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Assist-As-Needed Exoskeleton for Hand Joint Rehabilitation Based on Muscle Effort Detection

Jenny Carolina Castiblanco, Ivan Fernando Mondragon, Catalina Alvarado-Rojas, Julian D. Colorado
2021 Sensors  
The proposed closed-loop system takes into account the EMG muscle effort to modulate the exoskeleton velocity during the rehabilitation therapy.  ...  We used EMG signals acquired from four patients with post-stroke hand impairments for training machine learning models used to characterize muscle effort by classifying three muscular condition levels  ...  Acknowledgments: We would like to thank the Brandenburgklinik Berlin-Brandenburg Hospital, Wandlitz, Germany, for support during the experiments with patients.  ... 
doi:10.3390/s21134372 pmid:34206714 fatcat:oeyec32sarcvnjsrfdcbw4ilku

EMG-driven models of human-machine interaction in individuals wearing the H2 exoskeleton**This work was supported by the ERC Advanced Grant DEMOVE [267888]

Guillaume Durandau, Massimo Sartori, Magdo Bortole, Juan C. Moreno, José L. Pons, Dario Farina
2016 IFAC-PapersOnLine  
This work provides evidence of the feasibility of real-time model-based control of complex multi-joint exoskeleton system, thus opening new avenues for personalised robot-aided rehabilitation interventions  ...  In this paper, we demonstrate the use of EMG-driven modeling in online (i.e. in real-time) running on a fully portable embedded system and interfaced concurrently with a powered lower limb exoskeleton.  ...  One well accepted strategy to promote neural plasticity in exoskeleton-based robot therapy is the impedance-based assistance.  ... 
doi:10.1016/j.ifacol.2016.12.214 fatcat:e3vnngpftngfdfcjbopsqz75t4

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Abolfazl Mohebbi
2020 Current Robotics Reports  
routines in terms of activities for assistive systems and exercises for rehabilitation devices to fit each user's need and maximize their effectiveness.  ...  Purpose of Review Research in assistive and rehabilitation robotics is a growing, promising, and challenging field emerged due to various social and medical needs such as aging populations, neuromuscular  ...  For example, active prosthetics or exoskeletons for assisting different sensorimotor functions such as arm, hand, leg, ankle [3, 4•] .  ... 
doi:10.1007/s43154-020-00015-4 fatcat:t6vkv6iic5apxcvt7qvlqwoxjq

Upper Extremity Robotics Exoskeleton: Application, Structure And Actuation

Kwok-Hong Chay
2014 Zenodo  
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation.  ...  Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator.  ...  Different parts of upper extremity corresponding to the exoskeleton has been developed for the purposes of muscle training or rehabilitation such as wrist joint exoskeleton [16] , shoulder joint exoskeleton  ... 
doi:10.5281/zenodo.1309252 fatcat:2ptfbj2xhnh2nenw34x34n77u4

Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Thomas Michael Schnieders, Richard T. Stone
2017 International Journal of Robotics Applications and Technologies  
incorporation of exoskeletons for ergonomic intervention, and offers a review of needed future work.  ...  and the incorporation of exoskeletons for ergonomic intervention, and offers a review of needed future work.  ...  patients based on their needs.  ... 
doi:10.4018/ijrat.2017010101 fatcat:7iw744ymgfejfjucmbdd54c6gu

Novel soft bending actuator-based power augmentation hand exoskeleton controlled by human intention

Hassanin Al-Fahaam, Steve Davis, Samia Nefti-Meziani, Theo Theodoridis
2018 Intelligent Service Robotics  
This soft exoskeleton was developed as a human hand power augmentation system for healthy or partially hand disabled individuals.  ...  The proposed prototype serves healthy manual workers by decreasing the muscular effort needed for grasping objects.  ...  Acknowledgements The authors would like to thank the ministry of higher education/Iraq, University of Basrah, computer engineering department for providing scholarship support to the first author of this  ... 
doi:10.1007/s11370-018-0250-4 fatcat:m5v4ww55pbfs7creiedyczk3sm

A High-Level Control Algorithm Based on sEMG Signalling for an Elbow Joint SMA Exoskeleton

Dorin Copaci, David Serrano, Luis Moreno, Dolores Blanco
2018 Sensors  
It was applied to a shape memory alloy (SMA)-actuated exoskeleton used in active rehabilitation therapies for elbow joints.  ...  The results indicate that sEMG signals from elbow muscles, in combination with pressure sensors that measure arm–exoskeleton interaction, can be used as inputs for the control algorithm, which adapts the  ...  Acknowledgments: The authors are grateful for the collaboration of the LAMBECOM research group, of Rey Juan Carlos University of Madrid, Spain, in defining the design requirements of the rehabilitation  ... 
doi:10.3390/s18082522 pmid:30072609 fatcat:zhk2o3umf5dafgnfay5zeshzli

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies

Tommaso Proietti, Vincent Crocher, Agnes Roby-Brami, Nathanael Jarrasse
2016 IEEE Reviews in Biomedical Engineering  
Partial assistance, or assistance-as-needed [67] , groups all those control strategies which allow the impaired subject to actively control the motion, supporting it based on performance indexes.  ...  The results were moderately better by assisting the tasks with an assist-as-needed controller.  ...  She is also actively involved in several Academic Networks concerning research on disability.  ... 
doi:10.1109/rbme.2016.2552201 pmid:27071194 fatcat:jgtu6v7vljhrneobcypffyadzu

Current State of Robotics in Hand Rehabilitation after Stroke: A Systematic Review

Chang Liu, Jingxin Lu, Hongbo Yang, Kai Guo
2022 Applied Sciences  
This review focuses specifically on the actuation and control of hand functional rehabilitation robots, as user needs are primarily focused on actuation and control strategies.  ...  We also review hand detection technologies and compare them with patient needs.  ...  for identifying stroke impaired gait impairments, as well as for hand muscles.  ... 
doi:10.3390/app12094540 fatcat:4bmjpsfemvg73nwjpm6hxx2oaa

Development of Exoskeletons and Applications on Rehabilitation

Xinyu Guan, Linhong Ji, Rencheng Wang, G.A. Chang, M. Ma, S. Arumuga Perumal, G. Chen
2016 MATEC Web of Conferences  
on the field of rehabilitation, mainly on patient training and locomotion.  ...  For over a century, the development of exoskeletons experienced five periods including sprout, exploration, dormancy, accumulation and climax period from a concept in 19 th century to applications in distinctive  ...  The Lokomat with repetitive walking on one hand help to improve circulation, strengthen bones and muscles and gain a natural walking pattern [20] , on the other hand decrease the physical effort and constraint  ... 
doi:10.1051/matecconf/20164002004 fatcat:3axcubvcg5bprir4s2sosf5u7e

Model Predictive Control for Human-Centred Lower Limb Robotic Assistance [article]

Christopher Caulcrick, Weiguang Huo, Enrico Franco, Samer Mohammed, Will Hoult, Ravi Vaidyanathan
2020 arXiv   pre-print
Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains unresolved given pathological variance among patients.  ...  We introduce a model predictive control (MPC) architecture for lower limb exoskeletons centred around a fuzzy logic algorithm (FLA) identifying modes of assistance based on human involvement.  ...  Exoskeleton System The one Degree-of-Freedom (DOF) knee joint exoskeleton (see Fig. 5 ) is designed to provide power assistance for rehabilitation purposes.  ... 
arXiv:2011.05079v1 fatcat:ihsltjs4crbe7gt22pzctnmaga

Design and experimental testing of a force-augmenting exoskeleton for the human hand

Emily R. Triolo, Brett F. BuSha
2022 Journal of NeuroEngineering and Rehabilitation  
The objective of this study was to design and build a five-fingered powered assistive exoskeleton for the human hand, and to validate its ability to augment the gripping and pinching efforts of the wearer  ...  Results Use of the device significantly decreased the forearm muscle activity necessary to maintain a grasping effort (67%, p < 0.001), the larger of two pinching efforts (30%, p < 0.05), and the palmer  ...  Michael Steeil for their technical support.  ... 
doi:10.1186/s12984-022-00997-6 pmid:35189922 pmcid:PMC8862586 fatcat:hsvwwlu7mbdilh5aynyqchclse

Soft Exoskeletons: Development, Requirements, and Challenges of the Last Decade

Alan Francisco Pérez Vidal, Jesse Yoe Rumbo Morales, Gerardo Ortiz Torres, Felipe de Jesús Sorcia Vázquez, Alan Cruz Rojas, Jorge Aurelio Brizuela Mendoza, Julio César Rodríguez Cerda
2021 Actuators  
In this article, various investigations on soft exoskeletons are presented and their functional and structural characteristics are analyzed.  ...  The present work is oriented to the studies of the last decade and covers the upper and lower joints, specifically the shoulder, elbow, wrist, hand, hip, knee, and ankle.  ...  Acknowledgments: The authors of this document would like to thank Universidad de Guadalajara (Centro Universitario de los Valles) for the support provided during the development of this research.  ... 
doi:10.3390/act10070166 fatcat:aamogbqplzfdxckc3hedojk7r4

Assessing User Transparency with Muscle Synergies during Exoskeleton-Assisted Movements: A Pilot Study on the LIGHTarm Device for Neurorehabilitation

Andrea Chiavenna, Alessandro Scano, Matteo Malosio, Lorenzo Molinari Tosatti, Franco Molteni
2018 Applied Bionics and Biomechanics  
Exoskeleton devices for upper limb neurorehabilitation are one of the most exploited solutions for the recovery of lost motor functions.  ...  without gravity compensation), and exoskeleton-assisted (with gravity compensation) on healthy people.  ...  Acknowledgments The authors would like to acknowledge Giulio Spagnuolo for his support to this work.  ... 
doi:10.1155/2018/7647562 pmid:29967656 pmcid:PMC6008767 fatcat:7vx4kwzopraw3fqcizphx6giuy

Applied Exoskeleton Technology: A Comprehensive Review of Physical and Cognitive Human-Robot-Interfac [article]

Farhad Nazari, Navid Mohajer, Darius Nahavandi, Abbas Khosravi, Saeid Nahavandi
2022 arXiv   pre-print
To address this, after introducing assistive devices and exoskeletons, the main design criteria will be investigated from a physical Human-Robot Interface (HRI) perspective.  ...  To accommodate this insufficiency, different aspects of this technology need to be analysed and improved.  ...  It uses a model-based strategy to control the knee joint in which EMG signals detect the user's intention to apply assistive torque, damping or gravity compensation based on the human-exoskeleton model  ... 
arXiv:2111.12860v6 fatcat:h7y6crlveffalg3vxrdclubvim
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