405 research outputs found

    A Review Study for Robotic Exoskeletons Rehabilitation Devices

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    Nowadays, robotic exoskeletons demonstrated great abilities to replace traditional rehabilitation processes for activating neural abilities performed by physiotherapists. The main aim of this review study is to determine a state-of-the-art robotic exoskeleton that can be used for the rehabilitation of the lower limb of people who have mobile disabilities as a result of stroke and musculoskeletal conditions. The study presented the anatomy of the lower limb and the biomechanics of human gait to explain the mechanism of the limb, which helps in constructing a robotic exoskeleton. A state-of-the-art review of more than 100 articles related to robotic exoskeletons and their constructions, functionality, and rehabilitation capabilities are accurately implemented. Moreover, the study included a review of upper limb rehabilitation that has been studied locally and successfully applied to patients who exhibited significant improvements. Results of recent studies herald an abundant future for robotic exoskeletons used in the rehabilitation of the lower extremity. Significant improvement in the mechanism and design, as well as the quality, were observed. Also, impressive results were obtained from the performance when used by patients. This study concludes that working and improving the robotic devices continuously in accordance with the cases are necessary to be treated with the best results and the lowest cost

    A Bamboo-inspired Exoskeleton (BiEXO) Based on Carbon Fiber for Shoulder and Elbow Joints

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    Wearable Sensors and Smart Devices to Monitor Rehabilitation Parameters and Sports Performance: An Overview

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    A quantitative evaluation of kinetic parameters, the joint’s range of motion, heart rate, and breathing rate, can be employed in sports performance tracking and rehabilitation monitoring following injuries or surgical operations. However, many of the current detection systems are expensive and designed for clinical use, requiring the presence of a physician and medical staff to assist users in the device’s positioning and measurements. The goal of wearable sensors is to overcome the limitations of current devices, enabling the acquisition of a user’s vital signs directly from the body in an accurate and non–invasive way. In sports activities, wearable sensors allow athletes to monitor performance and body movements objectively, going beyond the coach’s subjective evaluation limits. The main goal of this review paper is to provide a comprehensive overview of wearable technologies and sensing systems to detect and monitor the physiological parameters of patients during post–operative rehabilitation and athletes’ training, and to present evidence that supports the efïŹcacy of this technology for healthcare applications. First, a classiïŹcation of the human physiological parameters acquired from the human body by sensors attached to sensitive skin locations or worn as a part of garments is introduced, carrying important feedback on the user’s health status. Then, a detailed description of the electromechanical transduction mechanisms allows a comparison of the technologies used in wearable applications to monitor sports and rehabilitation activities. This paves the way for an analysis of wearable technologies, providing a comprehensive comparison of the current state of the art of available sensors and systems. Comparative and statistical analyses are provided to point out useful insights for deïŹning the best technologies and solutions for monitoring body movements. Lastly, the presented review is compared with similar ones reported in the literature to highlight its strengths and novelties

    Corseto: A Kinesthetic Garment for Designing, Composing for, and Experiencing an Intersubjective Haptic Voice

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    We present a novel intercorporeal experience - an intersubjective haptic voice. Through an autobiographical design inquiry, based on singing techniques from the classical opera tradition, we created Corsetto, a kinesthetic garment for transferring somatic reminiscents of vocal experience from an expert singer to a listener. We then composed haptic gestures enacted in the Corsetto, emulating upper-body movements of the live singer performing a piece by Morton Feldman named Three Voices. The gestures in the Corsetto added a haptics-based \u27fourth voice\u27 to the immersive opera performance. Finally, we invited audiences who were asked to wear Corsetto during live performances. Afterwards they engaged in micro-phenomenological interviews. The analysis revealed how the Corsetto managed to bridge inner and outer bodily sensations, creating a feeling of a shared intercorporeal experience, dissolving boundaries between listener, singer and performance. We propose that \u27intersubjective haptics\u27 can be a generative medium not only for singing performances, but other possible intersubjective experiences

    Evaluating EEG–EMG Fusion-Based Classification as a Method for Improving Control of Wearable Robotic Devices for Upper-Limb Rehabilitation

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    Musculoskeletal disorders are the biggest cause of disability worldwide, and wearable mechatronic rehabilitation devices have been proposed for treatment. However, before widespread adoption, improvements in user control and system adaptability are required. User intention should be detected intuitively, and user-induced changes in system dynamics should be unobtrusively identified and corrected. Developments often focus on model-dependent nonlinear control theory, which is challenging to implement for wearable devices. One alternative is to incorporate bioelectrical signal-based machine learning into the system, allowing for simpler controller designs to be augmented by supplemental brain (electroencephalography/EEG) and muscle (electromyography/EMG) information. To extract user intention better, sensor fusion techniques have been proposed to combine EEG and EMG; however, further development is required to enhance the capabilities of EEG–EMG fusion beyond basic motion classification. To this end, the goals of this thesis were to investigate expanded methods of EEG–EMG fusion and to develop a novel control system based on the incorporation of EEG–EMG fusion classifiers. A dataset of EEG and EMG signals were collected during dynamic elbow flexion–extension motions and used to develop EEG–EMG fusion models to classify task weight, as well as motion intention. A variety of fusion methods were investigated, such as a Weighted Average decision-level fusion (83.01 ± 6.04% accuracy) and Convolutional Neural Network-based input-level fusion (81.57 ± 7.11% accuracy), demonstrating that EEG–EMG fusion can classify more indirect tasks. A novel control system, referred to as a Task Weight Selective Controller (TWSC), was implemented using a Gain Scheduling-based approach, dictated by external load estimations from an EEG–EMG fusion classifier. To improve system stability, classifier prediction debouncing was also proposed to reduce misclassifications through filtering. Performance of the TWSC was evaluated using a developed upper-limb brace simulator. Due to simulator limitations, no significant difference in error was observed between the TWSC and PID control. However, results did demonstrate the feasibility of prediction debouncing, showing it provided smoother device motion. Continued development of the TWSC, and EEG–EMG fusion techniques will ultimately result in wearable devices that are able to adapt to changing loads more effectively, serving to improve the user experience during operation

    Imagining & Sensing: Understanding and Extending the Vocalist-Voice Relationship Through Biosignal Feedback

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    The voice is body and instrument. Third-person interpretation of the voice by listeners, vocal teachers, and digital agents is centred largely around audio feedback. For a vocalist, physical feedback from within the body provides an additional interaction. The vocalist’s understanding of their multi-sensory experiences is through tacit knowledge of the body. This knowledge is difficult to articulate, yet awareness and control of the body are innate. In the ever-increasing emergence of technology which quantifies or interprets physiological processes, we must remain conscious also of embodiment and human perception of these processes. Focusing on the vocalist-voice relationship, this thesis expands knowledge of human interaction and how technology influences our perception of our bodies. To unite these different perspectives in the vocal context, I draw on mixed methods from cog- nitive science, psychology, music information retrieval, and interactive system design. Objective methods such as vocal audio analysis provide a third-person observation. Subjective practices such as micro-phenomenology capture the experiential, first-person perspectives of the vocalists them- selves. Quantitative-qualitative blend provides details not only on novel interaction, but also an understanding of how technology influences existing understanding of the body. I worked with vocalists to understand how they use their voice through abstract representations, use mental imagery to adapt to altered auditory feedback, and teach fundamental practice to others. Vocalists use multi-modal imagery, for instance understanding physical sensations through auditory sensations. The understanding of the voice exists in a pre-linguistic representation which draws on embodied knowledge and lived experience from outside contexts. I developed a novel vocal interaction method which uses measurement of laryngeal muscular activations through surface electromyography. Biofeedback was presented to vocalists through soni- fication. Acting as an indicator of vocal activity for both conscious and unconscious gestures, this feedback allowed vocalists to explore their movement through sound. This formed new perceptions but also questioned existing understanding of the body. The thesis also uncovers ways in which vocalists are in control and controlled by, work with and against their bodies, and feel as a single entity at times and totally separate entities at others. I conclude this thesis by demonstrating a nuanced account of human interaction and perception of the body through vocal practice, as an example of how technological intervention enables exploration and influence over embodied understanding. This further highlights the need for understanding of the human experience in embodied interaction, rather than solely on digital interpretation, when introducing technology into these relationships

    Engineering for a changing world: 60th Ilmenau Scientific Colloquium, Technische UniversitÀt Ilmenau, September 04-08, 2023 : programme

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    In 2023, the Ilmenau Scientific Colloquium is once more organised by the Department of Mechanical Engineering. The title of this year’s conference “Engineering for a Changing World” refers to limited natural resources of our planet, to massive changes in cooperation between continents, countries, institutions and people – enabled by the increased implementation of information technology as the probably most dominant driver in many fields. The Colloquium, supplemented by workshops, is characterised but not limited to the following topics: – Precision engineering and measurement technology Nanofabrication – Industry 4.0 and digitalisation in mechanical engineering – Mechatronics, biomechatronics and mechanism technology – Systems engineering – Productive teaming - Human-machine collaboration in the production environment The topics are oriented on key strategic aspects of research and teaching in Mechanical Engineering at our university

    Analysis and Characterization of Embroidered Textile Strain Sensors for Use in Wearable Mechatronic Devices

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    Stroke and musculoskeletal disorders affect hundreds of millions of people around the world. To aid in the recovery process of people affected by these conditions, the use of wearable mechatronic devices has been proposed during traditional rehabilitation therapies. However, factor such as rigidity, increased weight, and overall bulkiness have hindered the adoption of these devices in a clinical setting. Therefore, alternative solutions in the form of soft wearable mechatronic devices have been proposed recently. This is due to these devices being lightweight and comfortable, and compliant, which makes them easier to conform to the human body. To achieve such compliance, high emphasis has been placed on the development of soft sensing mechanisms, as they are in charge of collecting information from the device, the environment and user. Among these sensing mechanisms, force and motion sensors have been extensively studied, as they are the simplest to integrate in wearable mechatronic devices. However, the majority of these sensors have been developed using soft materials that are not breathable and can cause skin irritations due to the materials used to fabricate them. For these reasons, textile sensors have been proposed as an alternative. Among these textile solutions, embroidered sensors have shown great potential, as they are relatively simple to manufacture and have high scalability characteristics. Unfortunately, embroidered sensors have the disadvantage of not being stretchable, which is one of the many characteristics of motion and force sensors. To address these issues, this thesis focuses on the design, development, characterization, and performance assessment of embroidered textile strain sensors. To this end, a framework for the development of embroidered textile strain sensors was proposed. This framework included all the necessary steps to design and fabricate these sensors. To achieve the required stretchability of embroidered sensors, a set of customizable parameters were included within this framework. Then, following the guidelines of the proposed framework, a novel embroidered strain sensor was created using a honeycomb pattern. This pattern had two main purposes: a distribution of the axial forces across the walls of the honeycomb design to protect the conductive thread; and the addition of stretchiness to the embroidered sensor. Sensors created using this pattern were embroidered onto an elastic band and then attached to a strain compensation system to increase the stretchability of the sensor further. After 50 stretching cycles, sensors showed good linearity, an average gauge factor of 0.24, an average hysteresis of 36.85% and up to 55.56% working range. This demonstrated the ability of the embroidered sensor to work as a strain sensor, without showing signs of damage and without showing signs of deformation. Lastly, a series of embroidered sensors were fabricated using a Kirigami design. These sensors were created to measure forces under dynamic conditions. Before testing, these sensors were attached to a strain compensation mechanism, which in turn was attached to a force sensing device that served as ground truth for the data collected by the embroidered sensors. The embroidered sensors were tested under three different speed profiles: slow speed, medium speed, and high speed. On each speed profile, each sensor showed high linearity, a low hysteretic behaviour, and relatively good repeatability. These results established the capabilities of the embroidered strain sensors as force sensors that could be used inside soft wearable mechatronic devices
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