Functional evaluation of ASIBOT: A new approach on portable robotic system for disabled people

In this work, an innovative robotic solution for human care and assistance is presented. Our main objective is to develop a new concept of portable robot able to support the elderly and those people with different levels of disability during the execution of daily tasks, such as washing their face or hands, brushing their teeth, combing their hair, eating, drinking, and bringing objects closer, among others. Our prototype, ASIBOT, is a five degrees of freedom (DOF) self-contained manipulator that includes the control system and electronic equipment on board. The main advantages of the robot are its light weight, about 11 kg for a 1.3 m reach, its autonomy, and its ability to move between different points (docking stations) of the room or from the environment to a wheelchair and vice versa, which facilitates its supportive functions. The functional evaluation of ASIBOT is addressed in this paper. For this purpose the robotic arm is tested in different experiments with disabled people, gathering and discussing the results according to a methodology that allows us to assess users' satisfaction.The research leading to these results has received funding from the RoboCity2030- II-CM project (S2009/DPI-1559), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.Publicad

Assessing the Influence of Wheelchair On Individuals with Spinal Cord Injury Using a Measure of Participation

The purpose of the first study was to investigate the effect of manual and power wheelchairson the frequency of community activities of individuals with varying levels of spinal cord injury(SCI). One hundred and five individuals with SCI who use wheelchairs for mobility providedparticipated in the final analysis. A written survey that recorded assistive technology (AT) usagein daily activities, called Participation Survey/Mobility (PARTS/M), was distributed amongclients from Pittsburgh and Saint Louis. Results showed that individuals who use powerwheelchairs visit their friends and dine out much less than individuals who use manualwheelchairs. In addition, individuals with tetraplegia reported going to the doctor's office lessfrequently than individuals with paraplegia. Therefore, individuals with SCI with varied level ofinjury and different mobility devices, experience different types of frequencies of public placesand community participation.The purpose of the second study was to investigate the effect of wheelchairs, the physical andsocial barriers on community participation among individuals with SCI. One hundred and fiveindividuals with SCI who use wheelchairs for mobility participated in the data analyses. Awritten survey, called Facilitators and Barriers Survey/Mobility (FABS/M) was distributedamong clients from Pittsburgh and Saint Louis. Results showed that a greater number ofindividuals with tetraplegia who use power wheelchairs (TP) reported that lack of personalassistance as a perceived social barrier that limits their participation in their place of employmentASSESSING THE INFLUENCE OF WHEELCHAIR ON INDIVIDUALS WITHSPINAL CORD INJURY USING A MEASURE OF PARTICIPATIONEliana C. Ferretti, PhDUniversity of Pittsburgh, 2007when compared to those individuals with paraplegia who use manual wheelchairs (PM),individuals with paraplegia who use power wheelchairs (PP) and individuals with tetraplegiawho use manual wheelchairs (TM). A greater number of individuals with TM and PM reportedthat the place of employment does not limit them compared to those PP and TP. In addition, agreater number of individuals with PP and TP indicated that lack of personal assistance as aperceived social barrier that limits their participation in the grocery store when compared tothose with PM and TM. Furthermore, the perceived influence of the physical environment onparticipation in activities within the home and community was also demonstrated.The purpose of the third study was to investigate if the acquisition of new manual and powerwheelchairs delivered by specialized AT clinic will change the frequency of participating inactivities within the community of individuals with SCI and reduce the number of perceivedlimitations to participation over time. No significant difference between participants whoreceived new wheelchairs delivered by specialized AT clinic and those who have received newequipment from a non-specialized AT clinic on the perception of frequency of communityactivities, satisfaction of community activities and number of physical and social barriers werefound. The process of wheelchair service delivery has been shown to play an essential role inwheelchair related outcomes. However, the wheelchair service delivery may just be one of thefactors that affect the individual's community participation.The purpose of the fourth study was to investigate if there is a correlation between mobilitycharacteristics (distance traveled, speed, number of starts and stops and drive time) and thefrequency of community activities of individuals with SCI as measured by the PARTS/M anddata logger device. A significant negative correlation (r=-.783, p=.013) was found betweennumber of start and stops during week days and community participation scores, indicating thatindividuals who use power wheelchairs who have less number of starts and stops have higherlevel of community participation. A significant positive correlation (r=.772, p=.015) was foundbetween daily drive minutes during week days and community participation scores, indicatingthat individuals who use power wheelchairs who drive their wheelchair more have higher levelof community participation. In addition, in the manual wheelchair group, a significant positivecorrelation was found between speed during week days (r=.760, p=.047) and communityparticipation, indicating that individuals who travel at a higher speed have higher levels ofcommunity participation

User Based Development and Test of the EXOTIC Exoskeleton:Empowering Individuals with Tetraplegia Using a Compact, Versatile, 5-DoF Upper Limb Exoskeleton Controlled through Intelligent Semi-Automated Shared Tongue Control

This paper presents the EXOTIC- a novel assistive upper limb exoskeleton for individuals with complete functional tetraplegia that provides an unprecedented level of versatility and control. The current literature on exoskeletons mainly focuses on the basic technical aspects of exoskeleton design and control while the context in which these exoskeletons should function is less or not prioritized even though it poses important technical requirements. We considered all sources of design requirements, from the basic technical functions to the real-world practical application. The EXOTIC features: (1) a compact, safe, wheelchair-mountable, easy to don and doff exoskeleton capable of facilitating multiple highly desired activities of daily living for individuals with tetraplegia; (2) a semi-automated computer vision guidance system that can be enabled by the user when relevant; (3) a tongue control interface allowing for full, volitional, and continuous control over all possible motions of the exoskeleton. The EXOTIC was tested on ten able-bodied individuals and three users with tetraplegia caused by spinal cord injury. During the tests the EXOTIC succeeded in fully assisting tasks such as drinking and picking up snacks, even for users with complete functional tetraplegia and the need for a ventilator. The users confirmed the usability of the EXOTIC

Motivation: An Occupational Therapists Guide for Motivating Young Male Clients with Spinal Cord Injuries

According to the Center for Disease Control and Prevention (2010), males account for approximately 80% of those who endure a spinal cord injury (SCI). Most newly diagnosed clients with spinal cord injuries are between the ages of 15-35 years (50%-70%) (CDC, 2010). Occupational therapists often work with clients who have sustained a SCI. It is in the best interest of the profession and our clients to address the psychosocial impact motivation can have on clients\u27 recovery. According to authors of research, a major problem to participation in treatment with clients who had a spinal cord injury was a lack of motivation (Chan et aI., 2000; Craig et ai., 2009; Kennedy, Evans, & Sandhu, 2009; Lohne & Severinsson, 2004). Due to clients\u27 possible decrease in occupational participation following a SCI, motivation may be a barrier to recovery. There is limited research in occupational therapy regarding the use of motivation for clients with SCI as an intervention tool. In one study, Wahman, Biguet, and Levi (2006) indicated that motivation is a key factor in increasing client participation in activities. By engaging in activities clients are either improving or maintaining health and preventing secondary conditions. The purpose of this project was to develop a guide to address motivation in young male clients following spinal cord injury (SCI). Historically, there has been little research that addressed motivation in relationship to engagement in occupations following SCI. For the purposes of this project, the authors examined the role motivation has in recovery of SCI for young male adults and developed an occupational therapy guide to address client motivation. A comprehensive literature review was conducted to explore the physical and psychological effects of clients who sustained a SCI. Furthermore, the authors conducted a theoretical review and explored literature that addressed the role of motivation in clients who sustained a SCI. Currently, there is limited research and programs available that specifically addresses motivation in clients engaging in SCI rehabilitation. Therefore, an occupational therapy guide was developed for occupational therapists working with young male clients who sustained a SCI. This guide was developed using the theoretical concepts of the Model of Human Occupation (MOHO) and Occupational Adaptation (OA). The guide will direct clinicians to use motivational concepts as intervention strategies. This will give occupational therapists a resource to utilize when motivation is a ban-ier to client participation in meaningful occupations. By motivating a client with SCI, his participation in meaningful occupations increases. In return, young male clients with SCI have an improved quality of life. The development of this guide follows the occupational therapy process: assessment, intervention, and outcome measures. Previous evidence from authors of research indicated the benefits of addressing motivation. In return, a clinician\u27s guide for occupational therapists to address motivation in SCI recovery will increase clients\u27 participation in activities to increase overall quality of life