ROAD: Domestic Assistant and Rehabilitation Robot

This study introduces the concept design and analysis of a robotic system for the assistance and rehabilitation of disabled people. Based on the statistical data of the most common types of disabilities in Spain and other industrialized countries, the different tasks that the device must be able to perform have been determined. In this study, different robots for rehabilitation and assistance previously introduced have been reviewed. This survey is focused on those robots that assist with gait, balance and standing up. The structure of the ROAD robot presents various advantages over these robots, we discuss some of them. The performance of the proposed architecture is analyzed when it performs the sit to stand activity

Joint Trajectory Generation and High-level Control for Patient-tailored Robotic Gait Rehabilitation

This dissertation presents a group of novel methods for robot-based gait rehabilitation which were developed aiming to offer more individualized therapies based on the specific condition of each patient, as well as to improve the overall rehabilitation experience for both patient and therapist. A novel methodology for gait pattern generation is proposed, which offers estimated hip and knee joint trajectories corresponding to healthy walking, and allows the therapist to graphically adapt the reference trajectories in order to fit better the patient's needs and disabilities. Additionally, the motion controllers for the hip and knee joints, mobile platform, and pelvic mechanism of an over-ground gait rehabilitation robotic system are also presented, as well as some proposed methods for assist as needed therapy. Two robot-patient synchronization approaches are also included in this work, together with a novel algorithm for online hip trajectory adaptation developed to reduce obstructive forces applied to the patient during therapy with compliant robotic systems. Finally, a prototype graphical user interface for the therapist is also presented

Review of control strategies for robotic movement training after neurologic injury

There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury. This paper reviews control strategies for robotic therapy devices. Several categories of strategies have been proposed, including, assistive, challenge-based, haptic simulation, and coaching. The greatest amount of work has been done on developing assistive strategies, and thus the majority of this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. It is also now apparent there may be mechanisms by which some robotic control approaches might actually decrease the recovery possible with comparable, non-robotic forms of training. In future research, there is a need for head-to-head comparison of control algorithms in randomized, controlled clinical trials, and for improved models of human motor recovery to provide a more rational framework for designing robotic therapy control strategies

How a Diverse Research Ecosystem Has Generated New Rehabilitation Technologies: Review of NIDILRR’s Rehabilitation Engineering Research Centers

Over 50 million United States citizens (1 in 6 people in the US) have a developmental, acquired, or degenerative disability. The average US citizen can expect to live 20% of his or her life with a disability. Rehabilitation technologies play a major role in improving the quality of life for people with a disability, yet widespread and highly challenging needs remain. Within the US, a major effort aimed at the creation and evaluation of rehabilitation technology has been the Rehabilitation Engineering Research Centers (RERCs) sponsored by the National Institute on Disability, Independent Living, and Rehabilitation Research. As envisioned at their conception by a panel of the National Academy of Science in 1970, these centers were intended to take a “total approach to rehabilitation”, combining medicine, engineering, and related science, to improve the quality of life of individuals with a disability. Here, we review the scope, achievements, and ongoing projects of an unbiased sample of 19 currently active or recently terminated RERCs. Specifically, for each center, we briefly explain the needs it targets, summarize key historical advances, identify emerging innovations, and consider future directions. Our assessment from this review is that the RERC program indeed involves a multidisciplinary approach, with 36 professional fields involved, although 70% of research and development staff are in engineering fields, 23% in clinical fields, and only 7% in basic science fields; significantly, 11% of the professional staff have a disability related to their research. We observe that the RERC program has substantially diversified the scope of its work since the 1970’s, addressing more types of disabilities using more technologies, and, in particular, often now focusing on information technologies. RERC work also now often views users as integrated into an interdependent society through technologies that both people with and without disabilities co-use (such as the internet, wireless communication, and architecture). In addition, RERC research has evolved to view users as able at improving outcomes through learning, exercise, and plasticity (rather than being static), which can be optimally timed. We provide examples of rehabilitation technology innovation produced by the RERCs that illustrate this increasingly diversifying scope and evolving perspective. We conclude by discussing growth opportunities and possible future directions of the RERC program

Preliminary development and technical evaluation of a belt-actuated robotic rehabilitation platform

BACKGROUND: To provide effective rehabilitation in the early post-injury stage, a novel robotic rehabilitation platform is proposed, which provides full-body arm-leg rehabilitation via belt actuation to severely disabled patients who are restricted to bed rest. OBJECTIVE: To design and technically evaluate the preliminary development of the rehabilitation platform, with a focus on the generation of various leg movements. METHODS: Two computer models were developed by importing the components from SolidWorks into Simscape Multibody in MATLAB. This allowed simulation of various stepping movements in supine-lying and side-lying positions. Two belt-actuated test rigs were manufactured and automatic control programs were developed in TIA Portal. Finally, the functionality of the test rigs was technically evaluated. RESULTS: Computer simulation yielded target positions for the generation of various stepping movements in the experimental platforms. The control system enabled the two-drive test rig to provide three modes of stepping in a supine position. In addition, the four-drive test rig produced walking-like stepping in a side-lying position. CONCLUSIONS: This work confirmed the feasibility of the mechanical development and control system of the test rigs, which are deemed applicable for further development of the overall novel robotic rehabilitation platform

Impact of Ear Occlusion on In-Ear Sounds Generated by Intra-oral Behaviors

We conducted a case study with one volunteer and a recording setup to detect sounds induced by the actions: jaw clenching, tooth grinding, reading, eating, and drinking. The setup consisted of two in-ear microphones, where the left ear was semi-occluded with a commercially available earpiece and the right ear was occluded with a mouldable silicon ear piece. Investigations in the time and frequency domains demonstrated that for behaviors such as eating, tooth grinding, and reading, sounds could be recorded with both sensors. For jaw clenching, however, occluding the ear with a mouldable piece was necessary to enable its detection. This can be attributed to the fact that the mouldable ear piece sealed the ear canal and isolated it from the environment, resulting in a detectable change in pressure. In conclusion, our work suggests that detecting behaviors such as eating, grinding, reading with a semi-occluded ear is possible, whereas, behaviors such as clenching require the complete occlusion of the ear if the activity should be easily detectable. Nevertheless, the latter approach may limit real-world applicability because it hinders the hearing capabilities.</p

Robotic Rehabilitation Devices of Human Extremities: Design Concepts and Functional Particularities

International audienceAll over the world, several dozen million people suffer from the effects of post-polio, multiple sclerosis, spinal cord injury, cerebral palsy, etc. and could benefit from the advances in robotic devices for rehabilitation. Thus, for modern society, an important and vital problem of designing systems for rehabilitation of human physical working ability appears. The temporary or permanent loss of human motor functions can be compensated by means of various rehabilitation devices. They can be simple mechanical systems for orthoses, which duplicate the functions of human extremities supplying with rigidity and bearing capacity or more complex mechatronic rehabilitation devices with higher level of control. We attempt to cover all of the major developments in these areas, focusing particularly on the development of the different concepts and their functional characteristics. The robotic devices with several structures are classified, taking into account the actuation systems, the neuromuscular stimulations, and the structural schemes. It is showed that the problems concerning the design of rehabilitation devices are complex and involve many questions in the sphere of biomedicine, mechanics, robot technology, electromechanics and optimal control. This paper provides a design overview of hardware, actuation, sensory, and control systems for most of the devices that have been described in the literature, and it ends with a discussion of the major advances that have been made and should be yet overcome

Design And Development of A Powered Pediatric Lower-limb Orthosis

Gait impairments from disorders such as cerebral palsy are important to address early in life. A powered lower-limb orthosis can offer therapists a rehabilitation option using robot-assisted gait training. Although there are many devices already available for the adult population, there are few powered orthoses for the pediatric population. The aim of this dissertation is to embark on the first stages of development of a powered lower-limb orthosis for gait rehabilitation and assistance of children ages 6 to 11 years with walking impairments from cerebral palsy. This dissertation presents the design requirements of the orthosis, the design and fabrication of the joint actuators, and the design and manufacturing of a provisional version of the pediatric orthosis. Preliminary results demonstrate the capabilities of the joint actuators, confirm gait tracking capabilities of the actuators in the provisional orthosis, and evaluate a standing balance control strategy on the under-actuated provisional orthosis in simulation and experiment. In addition, this dissertation presents the design methodology for an anthropometrically parametrized orthosis, the fabrication of the prototype powered orthosis using this design methodology, and experimental application of orthosis hardware in providing walking assistance with a healthy adult. The presented results suggest the developed orthosis hardware is satisfactorily capable of operation and functional with a human subject. The first stages of development in this dissertation show encouraging results and will act as a foundation for further iv development of the device for rehabilitation and assistance of children with walking impairments

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