Modeling and Fabrication of Smart Robotic Wheelchair Instructed by Head Gesture

The confronting problem faced by the handicapped, paralyzed, disabled, and quadriplegic people is their independent mobility. They need external assistance to perform their daily life activities. This paper aims to solve that problem by smart designing and deployment of the robotic wheelchair for those who cannot perform their voluntary activities and movements. The proposed automated wheelchair comprises two parts; the first part is the user's helmet that works as a master device, and the second part is a slave device, a smart wheelchair. The master device consists of an accelerometer, microcontroller, and wireless transmitter, in which the Accelerometer recognizes the movements of the user's head and transmits the signal according to the tiltation of the user's head. Besides this, the slave device consists of a wireless receiver, microcontroller, Gyroscope, power MOSFETs, and DC geared motors mounted on a smart wheelchair, which response as per the instructions of the master device. Furthermore, the paper also provides a brief construction of this mechatronic and amphibian system using static and dynamic equations

Development And Human Performance Evaluation Of Control Modes Of An Exo-Skeletal Assistive Robotic Arm (esara)

This research was conducted to assist with functional tasks for a targeted group of individuals with spinal cord injury (SCI); with C5 to C7 level of injury relating to upper extremity movement. The specific population was selected as the existing technology was either too expensive, too bulky or was unable to address their needs in regards to upper extremity mobility. In addition, no platforms allowed multimodal control options for customization or provided a methodology for this crucial evaluation. The motivation of this research was to provide a methodology for selecting the appropriate control of an assistive device based on the range of basic human movements that were possible by the population under consideration (button pushing, lever sliding, and speech). The main idea was to create an evaluation methodology based on a user platform with multiple modes of control. The controls were developed such that they would allow operation of the device with respect to the capabilities of SCI participants. Engineering advancements have taken assistive robotics to new dimensions. Technologies such as wheelchair robotics and myo-electronically controlled systems have opened up a wide range of new applications to assist people with physical disabilities. Similarly exo-skeletal limbs and body suits have provided new foundations from which technologies can aid function. Unfortunately, these devices have issues of usability, weight, and discomfort with donning. The Smart Assistive Reacher Arm (SARA) system, developed in this research, is a voice-activated, lightweight, mobile device that can be used when needed. SARA was built to help overcome daily reach challenges faced by individuals with limited arm and hand movement capability, such as people with cervical level 5-6 (C5-6) SCI. The functional reacher arm with voice control can be beneficial for this population. Comparison study with healthy participants and an SCI participant shows that, when using SARA, a person with SCI can perform simple reach and grasp tasks independently, without someone else\u27s help. This suggests that the interface is intuitive and can be easily used to a high-level of proficiency by a SCI individual. Using SARA, an Exo-Skeletal Assistive Robotic Arm (eSARA) was designed and built. eSARA platform had multiple modes of control namely, voice (ballistic mode with no extremity movement), button (ballistic mode with minor extremity movement) and slider (continuous mode with major extremity movement). eSARA was able to extend a total of 7 inches from its original position. The platform also provided lift assist for users that can potentially enable them to lift up to 20lbs.The purpose of eSARA was to build a platform that could help design a methodology to select the modality for a specific level of SCI injury or capability. The eSARA platform\u27s Human Machine Interface (HMI) was based on two experiments `Fine movement experiment\u27 and `Gross movement experiment\u27. These experiments tested the reaching, grasping and lifting ability of the platform. Two groups of healthy young adults were selected to perform the experiment. The first group, 12 healthy participants, had no movement restrictions. The second group, 6 Occupational Therapy students, that could mimic restrictions similar to those of a level 5-6 SCI individual. The experiment was also conducted by an SCI individual. The results of the 2 groups from both the experiments were compared with the results of the SCI participant. It was found that the SCI participant\u27s time performance to finish the tasks was comparable to the average of the healthy participants. It was concluded that the developed methodology and platforms could be used to evaluate the control modes needed in order to customize the system to the capabilities of SCI individual. . These platforms can be tested for a broader range of participants including participants with arthritis, recovering from paralysis and seniors with movement issues

Assistive Technology Options for Individuals with Quadriplegia

This project was undertaken in collaboration with Sonia Nurkse, MOT, OTR/L and Bridget Tanner, MSOT, OTR/L, two occupational therapists working on the inpatient rehabilitation unit at MultiCare Good Samaritan Hospital in Puyallup, Washington. A systematic review of the literature was conducted to answer the question, “What are the most effective, up-to-date, and user-friendly assistive technology options to support individuals with quadriplegia in functional tasks?” Five databases were searched and through screening and careful review, 19 articles were selected for critical appraisal. Due to the wide variety of devices, some commercially available and other prototypes, we were unable to compare them and determine a superior device. Rather, the assistive technology (AT) devices were organized into three categories: devices that support computer and typing access, devices that support environmental control, and devices that restore function. A binder was developed containing AT software and hardware for individuals with limited to no upper extremity use. The AT binder contains devices that are supported by research and those without evidence. An in-service was organized to present the finished product to collaborators and their OT/PT colleagues. Through this process, it has been determined that there is a need for increased outcome research on AT devices for individuals with quadriplegia. This research has also highlighted the unique role that occupational therapy practitioners have in supporting quadriplegic clients’ independence. Due to the rapid rate of technological advances and developments, it is recommended that practitioners actively work to stay current on assistive technology devices and resources

Enhancing Nervous System Recovery through Neurobiologics, Neural Interface Training, and Neurorehabilitation.

After an initial period of recovery, human neurological injury has long been thought to be static. In order to improve quality of life for those suffering from stroke, spinal cord injury, or traumatic brain injury, researchers have been working to restore the nervous system and reduce neurological deficits through a number of mechanisms. For example, neurobiologists have been identifying and manipulating components of the intra- and extracellular milieu to alter the regenerative potential of neurons, neuro-engineers have been producing brain-machine and neural interfaces that circumvent lesions to restore functionality, and neurorehabilitation experts have been developing new ways to revitalize the nervous system even in chronic disease. While each of these areas holds promise, their individual paths to clinical relevance remain difficult. Nonetheless, these methods are now able to synergistically enhance recovery of native motor function to levels which were previously believed to be impossible. Furthermore, such recovery can even persist after training, and for the first time there is evidence of functional axonal regrowth and rewiring in the central nervous system of animal models. To attain this type of regeneration, rehabilitation paradigms that pair cortically-based intent with activation of affected circuits and positive neurofeedback appear to be required-a phenomenon which raises new and far reaching questions about the underlying relationship between conscious action and neural repair. For this reason, we argue that multi-modal therapy will be necessary to facilitate a truly robust recovery, and that the success of investigational microscopic techniques may depend on their integration into macroscopic frameworks that include task-based neurorehabilitation. We further identify critical components of future neural repair strategies and explore the most updated knowledge, progress, and challenges in the fields of cellular neuronal repair, neural interfacing, and neurorehabilitation, all with the goal of better understanding neurological injury and how to improve recovery

Zoomorphic extended body

My thesis work is built around emerging technologies within the fields of prosthetic and robotics. The end result is a speculative proposal with how to expand the potential modes of use with these emerging technologies to extend and build upon their potential uses

Robotic design and modelling of medical lower extremity exoskeletons

This study aims to explain the development of the robotic Lower Extremity Exoskeleton (LEE) systems between 1960 and 2019 in chronological order. The scans performed in the exoskeleton system’s design have shown that a modeling program, such as AnyBody, and OpenSim, should be used first to observe the design and software animation, followed by the mechanical development of the system using sensors and motors. Also, the use of OpenSim and AnyBody musculoskeletal system software has been proven to play an essential role in designing the human-exoskeleton by eliminating the high costs and risks of the mechanical designs. Furthermore, these modeling systems can enable rapid optimization of the LEE design by detecting the forces and torques falling on the human muscles

Neural Prosthetic Advancement: identification of circuitry in the Posterior Parietal Cortex

There are limited options for rehabilitation following an established Spinal Cord Injury (SCI) resulting in paralysis. For most of the individuals affected, SCI means a lifetime of confinement to a wheelchair and overall reduced independence. Brain-Computer and Brain-Machine Interface (BCI and BMI) techniques may be of aid when used for assistive purposes. However, these techniques are still far from being implemented in daily rehabilitative practice. Existing literature on the use of BCI and BMI techniques in SCI is limited and focuses on the extraction of motor control signals from the primary motor cortex (M1). However, evidence suggests that in long-term established SCI the functional activation of motor and premotor areas tends to decrease over time. In the present project, we explore the possibility of successful implementation of assistive BCI and BMI systems using posterior parietal areas as extraction sites of motor control activity. Firstly, we will investigate the representation of space in the posterior parietal cortex (PPC) and whether evidence of body-centered reference frames can be found in healthy individuals. We will then proceed to extract information regarding the residual level of motor imagery activity in individuals suffering from long-term and high-level SCI. Our aim is to ascertain whether functional activation of motor and posterior areas is comparable to that of matched controls. Finally, we will present work that was done in collaboration with the Netherlands Organisation for Applied Scientific Research that can offer an example of successful application of a BCI technique for rehabilitation purposes

Enhancing brain/neural-machine interfaces for upper limb motor restoration in chronic stroke and cervical spinal cord injury

Operation of assistive exoskeletons based on voluntary control of sensorimotor rhythms (SMR, 8-12 Hz) enables intuitive control of finger or arm movements in severe paralysis after chronic stroke or cervical spinal cord injury (SCI). To improve reliability of such systems outside the laboratory, in particular when brain activity is recorded non-invasively with scalp electroencephalography (EEG), a hybrid EEG/electrooculography (EOG) brain/neural-machine interface (B/NMI) was recently introduced. Besides providing assistance, recent studies indicate that repeated use of such systems can trigger neural recovery. However, important prerequisites have to achieved before broader use in clinical settings or everyday life environments is feasible. Current B/NMI systems predominantly restore hand function, but do not allow simultaneous control of more proximal joints for whole-arm motor coordination as required for most stroke survivors suffering from paralysis in the entire upper limb. Besides paralysis, cognitive impairments including post-stroke fatigue due to the brain lesion reduce the capacity to maintain effortful B/NMI control over a longer period of time. This impedes the applicability in daily life assistance and might even limits the efficacy of neurorehabilitation training. In contrast to stroke survivors, tetraplegics due to cervical SCI lack motor function in both hands. Given that most activities of daily living (ADL) involve bimanual manipulation, e.g., to open the lid of a bottle, bilateral exoskeleton control is required but was not shown yet in tetraplegics. To further enhance B/NMI systems, we first investigated whether B/NMI whole-arm exoskeleton control in hemiplegia after chronic stroke is feasible and safe. In contrast to simple grasping, control of more complex tasks involving the entire upper limb was not feasible with established B/NMIs because high- dimensionality of such multiple joint systems exceeds the bandwidth of these interfaces. Thus, we blended B/NMI control with vision-guidance to receive a semiautonomous whole-arm exoskeleton control. Such setup allowed to divide ADL tasks into a sequence of EEG/EOG-triggered sub-tasks reducing complexity for the user. While, for instance, a drinking task was resolved into EOG-induced reaching, lifting and placing back the cup, grasping and releasing movements were based on intuitive SMR control. Feasibility of such shared vision-guided B/NMI control was assumed when executions were initialized within 3 s (fluent control) and a minimum of 75 % of subtasks were executed within that time (reliable control). We showed feasibility in healthy subjects as well as stroke survivors without report of any side effects documenting safe use. Similarly, feasibility and safety of bilateral B/NMI control after cervical SCI was evaluated. To enable bilateral B/NMI control, established EEG-based grasping and EOG-based releasing or stop commands were complemented with a novel EOG command allowing to switch laterality by performing prolonged horizontal eye movements (>1 s) to the left or to the right. Study results with healthy subjects and tetraplegics document fluent initialization of grasping motions below 3 s as well as safe use as unintended grasping could be stopped before a full motion was conducted. Superiority of novel bilateral control was documented by a higher accuracy of up to 22 % in tetraplegics compared to a bilateral control without prolonged EOG command. Lastly, as reliable B/NMI control is cognitively demanding, e.g., by imagining or attempting the desired movements, we investigated whether heart rate variability (HRV) can be used as biomarker to predict declining control performance, which is often reported in stroke survivors due to their cognitive impairments. Referring to the close brain-heart connection, we showed in healthy subjects that a decline in HRV is specific as well as predictive to a decline in B/NMI control performance within a single training session. The predictive link was revealed by a Granger-causality analysis. In conclusion, we could demonstrate important enhancements in B/NMI control paradigms including complex whole-arm exoskeleton control as well as individual performance monitoring within a training session based on HRV. Both achievements contribute to broaden the use as a standard therapy in stroke neurorehabilitation. Especially the predictive characteristic of HRV paves the way for adaptive B/NMI control paradigms to account for individual differences among impaired stroke survivors. Moreover, we also showed feasibility and safety of a novel implementation for bilateral B/NMI control, which is necessary for reliable operation of two hand-exoskeletons for bimanual ADLs after SCI

Lower extremity robotic exoskeleton devices for overground ambulation recovery in acquired brain injury—A review

Acquired brain injury (ABI) is a leading cause of ambulation deficits in the United States every year. ABI (stroke, traumatic brain injury and cerebral palsy) results in ambulation deficits with residual gait and balance deviations persisting even after 1 year. Current research is focused on evaluating the effect of robotic exoskeleton devices (RD) for overground gait and balance training. In order to understand the device effectiveness on neuroplasticity, it is important to understand RD effectiveness in the context of both downstream (functional, biomechanical and physiological) and upstream (cortical) metrics. The review identifies gaps in research areas and suggests recommendations for future research. We carefully delineate between the preliminary studies and randomized clinical trials in the interpretation of existing evidence. We present a comprehensive review of the clinical and pre-clinical research that evaluated therapeutic effects of RDs using various domains, diagnosis and stage of recovery