42,367 research outputs found
In-home and remote use of robotic body surrogates by people with profound motor deficits
By controlling robots comparable to the human body, people with profound
motor deficits could potentially perform a variety of physical tasks for
themselves, improving their quality of life. The extent to which this is
achievable has been unclear due to the lack of suitable interfaces by which to
control robotic body surrogates and a dearth of studies involving substantial
numbers of people with profound motor deficits. We developed a novel, web-based
augmented reality interface that enables people with profound motor deficits to
remotely control a PR2 mobile manipulator from Willow Garage, which is a
human-scale, wheeled robot with two arms. We then conducted two studies to
investigate the use of robotic body surrogates. In the first study, 15 novice
users with profound motor deficits from across the United States controlled a
PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a
simulated self-care task. Participants achieved clinically meaningful
improvements on the ARAT and 12 of 15 participants (80%) successfully completed
the simulated self-care task. Participants agreed that the robotic system was
easy to use, was useful, and would provide a meaningful improvement in their
lives. In the second study, one expert user with profound motor deficits had
free use of a PR2 in his home for seven days. He performed a variety of
self-care and household tasks, and also used the robot in novel ways. Taking
both studies together, our results suggest that people with profound motor
deficits can improve their quality of life using robotic body surrogates, and
that they can gain benefit with only low-level robot autonomy and without
invasive interfaces. However, methods to reduce the rate of errors and increase
operational speed merit further investigation.Comment: 43 Pages, 13 Figure
Southwest Research Institute assistance to NASA in biomedical areas of the technology
Significant applications of aerospace technology were achieved. These applications include: a miniaturized, noninvasive system to telemeter electrocardiographic signals of heart transplant patients during their recuperative period as graded situations are introduced; and economical vital signs monitor for use in nursing homes and rehabilitation hospitals to indicate the onset of respiratory arrest; an implantable telemetry system to indicate the onset of the rejection phenomenon in animals undergoing cardiac transplants; an exceptionally accurate current proportional temperature controller for pollution studies; an automatic, atraumatic blood pressure measurement device; materials for protecting burned areas in contact with joint bender splints; a detector to signal the passage of animals by a given point during ecology studies; and special cushioning for use with below-knee amputees to protect the integrity of the skin at the stump/prosthesis interface
Use of the NESS Handmaster to restore handfunction in tetraplegia: clinical experiences in ten patients
Objective: To explore possible functional effects of the Handmaster in tetraplegia and to determine suitable patients for the system. \ud
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Patients: Patients with a cervical spinal cord injury between C4 and C6, motor group 0-3. Important selection criteria were a stable clinical situation and the absence of other medical problems and complications. \ud
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Design: Ten patients were consecutively selected from the in- and outpatient department of a large rehabilitation hospital in The Netherlands. Each patient was fitted with a Handmaster by a qualified therapist and underwent muscle strength and functional training for at least 2 months. \ud
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Methods: Functional evaluation comprised the performance of a defined set of tasks and at least one additional task as selected by patients themselves. Tasks were performed both with and without the Handmaster. Finally, patients were asked for their opinion on Handmaster use as well as their willingness to future use. \ud
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Results: In six patients a stimulated grasp and release with either one or both grasp modes (key- and palmar pinch) of the Handmaster was possible. Four patients could perform the set of tasks using the Handmaster, while they were not able to do so without the Handmaster. Eventually, one patient continued using the Handmaster during ADL at home. \ud
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Conclusion: The Handmaster has a functional benefit in a limited group of patients with a C5 SCI motor group 0 and 1. Suitable patients should have sufficient shoulder and biceps function combined with absent or weak wrist extensors. Though functional use was the main reason for using the Handmaster, this case series showed that therapeutic use can also be considered. \ud
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Mobile Interface for a Smart Wheelchair
Smart wheelchairs are designed for severely motor impaired people
that have difficulties to drive standard -manual or electric poweredwheelchairs.
Their goal is to automate driving tasks as much as possible in
order to minimize user intervention. Nevertheless, human involvement is still
necessary to maintain high level task control. Therefore in the interface design
it is necessary to take into account the restrictions imposed by the system
(mobile and small), by the type of users (people with severe motor restrictions)
and by the task (to select a destination among a number of choices in a
structured environment). This paper describes the structure of an adaptive
mobile interface for smart wheelchairs that is driven by the context.Comisión Interministerial de Ciencia y Tecnología TER96-2056-C02-0
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