Utilizing the intelligence edge framework for robotic upper limb rehabilitation in home

Robotic devices are gaining popularity for the physical rehabilitation of stroke survivors. Transition of these robotic systems from research labs to the clinical setting has been successful, however, providing robot-assisted rehabilitation in home settings remains to be achieved. In addition to ensure safety to the users, other important issues that need to be addressed are the real time monitoring of the installed instruments, remote supervision by a therapist, optimal data transmission and processing. The goal of this paper is to advance the current state of robot-assisted in-home rehabilitation. A state-of-the-art approach to implement a novel paradigm for home-based training of stroke survivors in the context of an upper limb rehabilitation robot system is presented in this paper. First, a cost effective and easy-to-wear upper limb robotic orthosis for home settings is introduced. Then, a framework of the internet of robotics things (IoRT) is discussed together with its implementation. Experimental results are included from a proof-of-concept study demonstrating that the means of absolute errors in predicting wrist, elbow and shoulder angles are 0.89180,2.67530 and 8.02580, respectively. These experimental results demonstrate the feasibility of a safe home-based training paradigm for stroke survivors. The proposed framework will help overcome the technological barriers, being relevant for IT experts in health-related domains and pave the way to setting up a telerehabilitation system increasing implementation of home-based robotic rehabilitation. The proposed novel framework includes: • A low-cost and easy to wear upper limb robotic orthosis which is suitable for use at home. • A paradigm of IoRT which is used in conjunction with the robotic orthosis for home-based rehabilitation. • A machine learning-based protocol which combines and analyse the data from robot sensors for efficient and quick decision making

A Fuzzy Logic Architecture for Rehabilitation Robotic Systems

Robots are highly incorporated in rehabilitation in the last decade to compensate lost functions in disabled individuals. By controlling the rehabilitation robots from far, many benefits are achieved. These benefits include but not restricted to minimum hospital stays, decreasing cost, and increasing the level of care. The main goal of this work is to have an effective solution to take care of patients from far. Tackling the problem of the remote control of rehabilitation robots is undergoing and highly challenging. In this paper, a remote wrist rehabilitation system is presented. The developed system is a sophisticated robot ensuring the two wrist movements (Flexion /extension and abduction/adduction). Additionally, the proposed system provides a software interface enabling the physiotherapists to control the rehabilitation process remotely. The patient’s safety during the therapy is achieved through the integration of a fuzzy controller in the system control architecture. The fuzzy controller is employed to control the robot action according to the pain felt by the patient. By using fuzzy logic approach, the system can adapt effectively according to the patients’ conditions. The Queue Telemetry Transport Protocol (MQTT) is considered to overcome the latency during the human robot interaction. Based on a Kinect camera, the control technique is made gestural. The physiotherapist gestures are detected and transmitted to the software interface to be processed and be sent to the robot. The acquired measurements are recorded in a database that can be used later to monitor patient progress during the treatment protocol. The obtained experimental results show the effectiveness of the developed remote rehabilitation system

Fuzzy-description logic for supporting the rehabilitation of the elderly

[EN] According to the latest statistics, the proportion of the elderly (+65) is increasing and is expected to double within the European Union in a period of 50 years. This ageing is due to the improvement of quality of life and advances in medicine in the last decades. Gerontechnology is receiving a great deal of attention as a way of providing the elderly with sustainable products, environments, and services combining gerontology and technology. One of the most important aspects to consider by gerontechnology is the mobility/rehabilitation technologies, because there is an important relationship between mobility and the elderly's quality of life. Telerehabilitation systems have emerged to allow the elderly to perform their rehabilitation exercises remotely. However, in many cases, the proposed systems assist neither the patients nor the experts about the progress of the rehabilitation. To address this problem, we propose in this paper, a fuzzy-semantic system for evaluating patient's physical state during the rehabilitation process based on well-known standard for patients' evaluation. Moreover, a tool called FINE has been developed that facilitates the evaluation be accomplished in a semi-automatic way first asking patients to carry out a set of standard tests and then inferencing their state by means of a fuzzy-semantic approach using the data captured during the rehabilitation tasks.This research was funded by the Spanish Ministry of Economy and Competitiveness and by EU FEDER funds under project grants TIN2016-79100-R and TIN2015-72931-EXP. It has also been funded by the Junta de Comunidades de Castilla¿La Mancha scholarship 2018-UCLM1-9131Moya, A.; Navarro, E.; Jaén Martínez, FJ.; González, P. (2020). Fuzzy-description logic for supporting the rehabilitation of the elderly. 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Support vector machines to detect physiological patterns for EEG and EMG-based human-computer interaction:a review

Support vector machines (SVMs) are widely used classifiers for detecting physiological patterns in human-computer interaction (HCI). Their success is due to their versatility, robustness and large availability of free dedicated toolboxes. Frequently in the literature, insufficient details about the SVM implementation and/or parameters selection are reported, making it impossible to reproduce study analysis and results. In order to perform an optimized classification and report a proper description of the results, it is necessary to have a comprehensive critical overview of the applications of SVM. The aim of this paper is to provide a review of the usage of SVM in the determination of brain and muscle patterns for HCI, by focusing on electroencephalography (EEG) and electromyography (EMG) techniques. In particular, an overview of the basic principles of SVM theory is outlined, together with a description of several relevant literature implementations. Furthermore, details concerning reviewed papers are listed in tables and statistics of SVM use in the literature are presented. Suitability of SVM for HCI is discussed and critical comparisons with other classifiers are reported

Design and Development of a Twisted String Exoskeleton Robot for the Upper Limb

High-intensity and task-specific upper-limb treatment of active, highly repetitive movements are the effective approaches for patients with motor disorders. However, with the severe shortage of medical service in the United States and the fact that post-stroke survivors can continue to incur significant financial costs, patients often choose not to return to the hospital or clinic for complete recovery. Therefore, robot-assisted therapy can be considered as an alternative rehabilitation approach because the similar or better results as the patients who receive intensive conventional therapy offered by professional physicians.;The primary objective of this study was to design and fabricate an effective mobile assistive robotic system that can provide stroke patients shoulder and elbow assistance. To reduce the size of actuators and to minimize the weight that needs to be carried by users, two sets of dual twisted-string actuators, each with 7 strands (1 neutral and 6 effective) were used to extend/contract the adopted strings to drive the rotational movements of shoulder and elbow joints through a Bowden cable mechanism. Furthermore, movements of non-disabled people were captured as templates of training trajectories to provide effective rehabilitation.;The specific aims of this study included the development of a two-degree-of-freedom prototype for the elbow and shoulder joints, an adaptive robust control algorithm with cross-coupling dynamics that can compensate for both nonlinear factors of the system and asynchronization between individual actuators as well as an approach for extracting the reference trajectories for the assistive robotic from non-disabled people based on Microsoft Kinect sensor and Dynamic time warping algorithm. Finally, the data acquisition and control system of the robot was implemented by Intel Galileo and XILINX FPGA embedded system

Modelling and EMG based Control of Upper Limb Exoskeletons for Hand Impairments

Functional losses associated with hand impairments have led to the growing development of hand exoskeletons. The main challenges are to develop the exoskeletons that work according to the user’s motion intention, which can be done by utilizing the electromyogram signals generated by forearm muscles contributed from the movement and/or grasping abilities of the hand. In this research, modelling and EMG based control of hand exoskeletons with the aim to assist stroke survivors in regaining their hand strength and functionality, and improve their quality of life is presented

An adaptive self-organizing fuzzy logic controller in a serious game for motor impairment rehabilitation

Rehabiliation robotics combined with video game technology provides a means of assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The current work presents ReHabGame, a serious game using a fusion of implemented technologies that can be easily used by patients and therapists to assess and enhance sensorimotor performance and also increase the activities in the daily lives of patients. The game allows a player to control avatar movements through a Kinect Xbox, Myo armband and rudder foot pedal, and involves a series of reach-grasp-collect tasks whose difficulty levels are learnt by a fuzzy interface. The orientation, angular velocity, head and spine tilts and other data generated by the player are monitored and saved, whilst the task completion is calculated by solving an inverse kinematics algorithm which orientates the upper limb joints of the avatar. The different values in upper body quantities of movement provide fuzzy input from which crisp output is determined and used to generate an appropriate subsequent rehabilitation game level. The system can thus provide personalised, autonomously-learnt rehabilitation programmes for patients with neuromuscular disorders with superior predictions to guide the development of improved clinical protocols compared to traditional theraputic activities

Smart Sensing Technologies for Personalised Coaching

People living in both developed and developing countries face serious health challenges related to sedentary lifestyles. It is therefore essential to find new ways to improve health so that people can live longer and can age well. With an ever-growing number of smart sensing systems developed and deployed across the globe, experts are primed to help coach people toward healthier behaviors. The increasing accountability associated with app- and device-based behavior tracking not only provides timely and personalized information and support but also gives us an incentive to set goals and to do more. This book presents some of the recent efforts made towards automatic and autonomous identification and coaching of troublesome behaviors to procure lasting, beneficial behavioral changes

Exploring the Landscape of Ubiquitous In-home Health Monitoring: A Comprehensive Survey

Ubiquitous in-home health monitoring systems have become popular in recent years due to the rise of digital health technologies and the growing demand for remote health monitoring. These systems enable individuals to increase their independence by allowing them to monitor their health from the home and by allowing more control over their well-being. In this study, we perform a comprehensive survey on this topic by reviewing a large number of literature in the area. We investigate these systems from various aspects, namely sensing technologies, communication technologies, intelligent and computing systems, and application areas. Specifically, we provide an overview of in-home health monitoring systems and identify their main components. We then present each component and discuss its role within in-home health monitoring systems. In addition, we provide an overview of the practical use of ubiquitous technologies in the home for health monitoring. Finally, we identify the main challenges and limitations based on the existing literature and provide eight recommendations for potential future research directions toward the development of in-home health monitoring systems. We conclude that despite extensive research on various components needed for the development of effective in-home health monitoring systems, the development of effective in-home health monitoring systems still requires further investigation.Comment: 35 pages, 5 figure