207 research outputs found
A reconfigurable wheelchair for mobility and rehabilitation:Design and development
This paper presents the design and development of a prototype of a reconfigurable wheelchair for rehabilitation and self-assistance to fit the size of a seven years old child (average 35 kg weight). Though the developed prototype is developed at this stage to fit a child, it can be resized, after considering variations in weight and size, to fit an older adult. The developed prototype has a mechanism that enables the user to transform from sit-to-stand (STS) posture and vice versa. With the help of the developed wheelchair, the user will also be able to adjust the posture of his upper body using an adjustable back support using two linear actuators. This configuration will allow the user to use the wheelchair as a mobility device as well as for rehabilitation purposes without the need of external support. The availability of STS and back adjustment mechanisms will allow the user to do regular exercising which will enhance blood circulation as sitting for long periods inflates lower limbs disability. The proposed configuration will help in enhancing the functional capabilities of end-users allowing for increased independence and ultimately quality of life
Supporting active and healthy aging with advanced robotics integrated in smart environment
The technological advances in the robotic and ICT fields represent an effective solution to address specific societal problems to support ageing and independent life. One of the key factors for these technologies is the integration of service robotics for optimising social services and improving quality of life of the elderly population. This chapter aims to underline the barriers of the state of the art, furthermore the authors present their concrete experiences to overcome these barriers gained at the RoboTown Living Lab of Scuola Superiore Sant'Anna within past and current projects. They analyse and discuss the results in order to give recommendations based on their experiences. Furthermore, this work highlights the trend of development from stand-alone solutions to cloud computing architecture, describing the future research directions
Upper-limb Kinematic Analysis and Artificial Intelligent Techniques for Neurorehabilitation and Assistive Environments
Stroke, one of the leading causes of death and disability around the
world, usually affects the motor cortex causing weakness or paralysis
in the limbs of one side of the body. Research efforts in neurorehabilitation
technology have focused on the development of robotic devices to
restore motor and cognitive function in impaired individuals, having
the potential to deliver high-intensity and motivating therapy.
End-effector-based devices have become an usual tool in the upper-
limb neurorehabilitation due to the ease of adapting to patients.
However, they are unable to measure the joint movements during
the exercise. Thus, the first part of this thesis is focused on the development
of a kinematic reconstruction algorithm that can be used
in a real rehabilitation environment, without disturbing the normal
patient-clinician interaction. On the basis of the algorithm found in
the literature that presents some instabilities, a new algorithm is developed.
The proposed algorithm is the first one able to online estimate
not only the upper-limb joints, but also the trunk compensation using
only two non-invasive wearable devices, placed onto the shoulder and
upper arm of the patient. This new tool will allow the therapist to perform
a comprehensive assessment combining the range of movement
with clinical assessment scales.
Knowing that the intensity of the therapy improves the outcomes of
neurorehabilitation, a ‘self-managed’ rehabilitation system can allow
the patients to continue the rehabilitation at home. This thesis proposes
a system to online measure a set of upper-limb rehabilitation gestures,
and intelligently evaluates the quality of the exercise performed by
the patients. The assessment is performed through the study of the
performed movement as a whole as well as evaluating each joint
independently. The first results are promising and suggest that this
system can became a a new tool to complement the clinical therapy at
home and improve the rehabilitation outcomes.
Finally, severe motor condition can remain after rehabilitation process.
Thus, a technology solution for these patients and people with
severe motor disabilities is proposed. An intelligent environmental
control interface is developed with the ability to adapt its scan control
to the residual capabilities of the user. Furthermore, the system estimates
the intention of the user from the environmental information and the behavior of the user, helping in the navigation through the
interface, improving its independence at home.El accidente cerebrovascular o ictus es una de las causas principales
de muerte y discapacidad a nivel mundial. Normalmente afecta a la
corteza motora causando debilidad o parálisis en las articulaciones del
mismo lado del cuerpo. Los esfuerzos de investigación dentro de la
tecnología de neurorehabilitación se han centrado en el desarrollo de
dispositivos robóticos para restaurar las funciones motoras y cognitivas
en las personas con esta discapacidad, teniendo un gran potencial
para ofrecer una terapia de alta intensidad y motivadora.
Los dispositivos basados en efector final se han convertido en una
herramienta habitual en la neurorehabilitación de miembro superior
ya que es muy sencillo adaptarlo a los pacientes. Sin embargo, éstos
no son capaces de medir los movimientos articulares durante la realización
del ejercicio. Por tanto, la primera parte de esta tesis se centra
en el desarrollo de un algoritmo de reconstrucción cinemática que
pueda ser usado en un entorno de rehabilitación real, sin perjudicar a
la interacción normal entre el paciente y el clínico. Partiendo de la base
que propone el algoritmo encontrado en la literatura, el cual presenta
algunas inestabilidades, se ha desarrollado un nuevo algoritmo. El
algoritmo propuesto es el primero capaz de estimar en tiempo real
no sólo las articulaciones del miembro superior, sino también la compensación
del tronco usando solamente dos dispositivos no invasivos
y portátiles, colocados sobre el hombro y el brazo del paciente. Esta
nueva herramienta permite al terapeuta realizar una valoración más
exhaustiva combinando el rango de movimiento con las escalas de
valoración clínicas.
Sabiendo que la intensidad de la terapia mejora los resultados de la
recuperación del ictus, un sistema de rehabilitación ‘auto-gestionado’
permite a los pacientes continuar con la rehabilitación en casa. Esta
tesis propone un sistema para medir en tiempo real un conjunto de
gestos de miembro superior y evaluar de manera inteligente la calidad
del ejercicio realizado por el paciente. La valoración se hace a través del
estudio del movimiento ejecutado en su conjunto, así como evaluando
cada articulación independientemente. Los primeros resultados son
prometedores y apuntan a que este sistema puede convertirse en una
nueva herramienta para complementar la terapia clínica en casa y
mejorar los resultados de la rehabilitación. Finalmente, después del proceso de rehabilitación pueden quedar
secuelas motoras graves. Por este motivo, se propone una solución
tecnológica para estas personas y para personas con discapacidades
motoras severas. Así, se ha desarrollado una interfaz de control de
entorno inteligente capaz de adaptar su control a las capacidades
residuales del usuario. Además, el sistema estima la intención del
usuario a partir de la información del entorno y el comportamiento del
usuario, ayudando en la navegación a través de la interfaz, mejorando
su independencia en el hogar
Simulation and control of multipurpose wheelchair for disabled/elderly mobility
© 2016 IOS Press and the author(s). This paper presents investigations into the development of modelling and control strategies for a multipurpose wheelchair as mobile transporter for elderly and disabled people. The research is aimed at helping people with physical weakness/disabilities in their upper and lower extremities to move independently without human intervention. A novel reconfiguration which allows multi-task operations in the same wheelchair system with improved design is modelled in Visual Nastran 4D (VN4D) software. A modular fuzzy logic control mechanism with integrated phases is introduced for the overall operations and two-wheeled stabilization of the wheelchair. It is shown that the proposed modular fuzzy control approach is able to ensure system stability while performing multipurpose tasks such as manoeuvrability on flat surfaces, stairs climbing (ascending and descending), standing in the upright position on two wheels and transformation back to standard four wheels with up to 50% less initial torque in comparison to previous designs
Enabling Social Interaction Through Embodiment in ExCITE
No abstract availableThe emerging demographic trends toward an aging population involve an unflagging research of ways of assisting elderly people to stay independent for as long as possible. This means to be active at home and in the labour market, to prevent social isolation and promote societal inclusion. Both ICT and robotics technologies can contribute to help achieving these goals. This paper introduces the aims of the Ambient Assisted Living project ExCITE whose main objective is to enhance a robotic platform for telepresence with features enabling social interaction from a domestic environment to the outside world. The whole ExCITE project uses a user-centered approach hence it evolves around an intensive evaluation to be performed in situ, on a PanEuropean scale. An existing prototype, called Giraff, is to be deployed to targeted end-users, and refined taking into account outcome of the evaluation. This paper introduces the objectives of ExCITE and offers a description of its initial activities particularly focused on the user evaluation
Mechatronic Systems
Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools
Man-Machine Interface System for Neuromuscular Training and Evaluation Based on EMG and MMG Signals
This paper presents the UVa-NTS (University of Valladolid Neuromuscular Training System), a multifunction and portable Neuromuscular Training System. The UVa-NTS is designed to analyze the voluntary control of severe neuromotor handicapped patients, their interactive response, and their adaptation to neuromuscular interface systems, such as neural prostheses or domotic applications. Thus, it is an excellent tool to evaluate the residual muscle capabilities in the handicapped. The UVa-NTS is composed of a custom signal conditioning front-end and a computer. The front-end electronics is described thoroughly as well as the overall features of the custom software implementation. The software system is composed of a set of graphical training tools and a processing core. The UVa-NTS works with two classes of neuromuscular signals: the classic myoelectric signals (MES) and, as a novelty, the myomechanic signals (MMS). In order to evaluate the performance of the processing core, a complete analysis has been done to classify its efficiency and to check that it fulfils with the real-time constraints. Tests were performed both with healthy and selected impaired subjects. The adaptation was achieved rapidly, applying a predefined protocol for the UVa-NTS set of training tools. Fine voluntary control was demonstrated to be reached with the myoelectric signals. And the UVa-NTS demonstrated to provide a satisfactory voluntary control when applying the myomechanic signals
- …