Navigation system using passive collaborative control adapted to user profile for a rollator device

In order to achieve this goal, research in different areas has been necessary. First, a methodology to provide human-like platform motion in reactive navigation algorithms has been proposed to improve user acceptance of help. Then, work has focused on gait analysis and user's condition estimation using only onboard sensors. In addition, a new methodology to evaluate fall risk using only onboard sensors while users walk has been proposed to balance the contribution of user and robot to control. All proposed subsystems have been validated with a set of volunteers at two rehabilitation hospitals: Fondazione Santa Lucia (Rome) and Hospital Regional Universitario (Malaga). Volunteers presented a wide variety of physical and cognitive disabilities. Tests with healthy volunteers have been discarded from the beginning to avoid a sampling bias error. Obtained results have shown that the proposed system can be used for: i) reactively generating human-like trajectories that outperforms all other tested algorithms in terms of likeness to human paths and success rate; ii) monitoring gait and user's condition while users walk using only on-board sensors; and iii) evaluating fall risk without wearable sensors nor ambient sensors. This thesis open a number of open research lines: i) user condition estimation can be extended to another medical scales; ii) the method to reactively generate human-like-trajectories can be extended to add deliberative human-adapted-path-planning; and iii) the fall risk estimator can be extended to a fall risk predictor.Rollators provide autonomy to persons with mobility impairments. These platforms can be used while people perform their Activities of Daily Living in order to provide support and/or balance. Also, they can be used during the rehabilitation process to strengthen the lower limbs or to provide balance before users can progress to canes or crutches. Rollators have a limited set of personalization options, but they are usually related to the users' body size. Hence, people who need extra typically have to choose a wheelchair instead. This transition to a wheelchair limits users' movements and it increases their disuse syndrome because they do not exercise their lower limbs. Hence, it is a priority to extent the use of rollator platforms as much as possible by adapting help to people who can not use a conventional rollator on their own. Technological enhancements can be added to rollator to expand their use to a larger population. For example, force sensors on handlebars provide information about users' weight bearing. This information can be used during rehabilitation to control their partial weight-bearing. Encoders on wheels may also provide useful information about the walking speed, which is a well know estimator of fall risk. In addition to monitorization, motors can be attached to the wheels for assistance, e.g. to reduce effort while ascending slopes. This thesis focuses on creating a navigation system for a robotized rollator, which includes weight bearing sensors, encoders and wheel motors. The navigation system relies on passive collaborative control to continuously combine user and system commands in a seamless way. The main contribution of this work is adaptation to the user's needs through continuous, transparent monitorization and profile estimation

Self-Adaptation of mHealth Devices: The Case of the Smart Cane Platform

Nowadays, more than one billion people are in need of one or more assistive technologies, and this number is expected to increase beyond two billion by 2050. The majority of assistive technologies are supported by battery-operated devices like smartphones and wearables. This means that battery weight is an important concern in such assistive devices because it may affect negatively its ergonomics. Saving power in these assistive devices is of utmost importance for its potential twofold benefits: extend the device life and reduce the global warming aggravated by billion of these devices. Dynamic Software Product Lines (DSPLs) are a suitable technology that supports system adaptation, in this case, to reduce energy consumption at runtime, considering contextual information and the current state of the device. However, a reduction in battery consumption could negatively affect other quality of service parameters, like response time. Therefore, it is important to trade-off battery saving and these other concerns. This work illustrates how to approach the self-adaptation of smart assistive devices by means of a DSPL-based strategy that optimizes battery consumption taking into account other QoS parameters at the same time. We illustrate our proposal with a real case study: a Smart Cane that is integrated with a DSPL platform, Tanit. Experimentation shows that it is possible to make a trade-off between different quality concerns (energy consumption and relative error). The results of the experiments allow us to conclude that the Tanit approach elongates battery duration of the Smart Cane in one day (an increase of a 6% with a relative error of 1%), so we improve the user quality of experience and reduce the energy footprint with a reasonable relative error.This research was funded by the projects Magic P12-TIC1814 and TASOVA MCIU-AEI TIN2017-90644-REDT, by the projects co-financed by FEDER funds HADAS TIN2015-64841-R, MEDEA RTI2018-099213-B-I00 and LEIA UMA18-FEDERJA-157, by the post-doctoral plan of the University of Málaga and the Swedish Knowledge Foundation (KKS) through the research profile Embedded Sensor Systems for Health Plus at Mälardalen University, Sweden. -Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Instrumentation and validation of a robotic cane for transportation and fall prevention in patients with affected mobility

Dissertação de mestrado integrado em Engenharia Física, (especialização em Dispositivos, Microssistemas e Nanotecnologias)O ato de andar é conhecido por ser a forma primitiva de locomoção do ser humano, sendo que este traz muitos benefícios que motivam um estilo de vida saudável e ativo. No entanto, há condições de saúde que dificultam a realização da marcha, o que por consequência pode resultar num agravamento da saúde, e adicionalmente, levar a um maior risco de quedas. Nesse sentido, o desenvolvimento de um sistema de deteção e prevenção de quedas, integrado num dispositivo auxiliar de marcha, seria essencial para reduzir estes eventos de quedas e melhorar a qualidade de vida das pessoas. Para ultrapassar estas necessidades e limitações, esta dissertação tem como objetivo validar e instrumentar uma bengala robótica, denominada Anti-fall Robotic Cane (ARCane), concebida para incorporar um sistema de deteção de quedas e um mecanismo de atuação que possibilite a prevenção de quedas, ao mesmo tempo que assiste a marcha. Para esse fim, foi realizada uma revisão do estado da arte em bengalas robóticas para adquirir um conhecimento amplo e aprofundado dos componentes, mecanismos e estratégias utilizadas, bem como os protocolos experimentais, principais resultados, limitações e desafios em dispositivos existentes. Numa primeira fase, foi estipulado o objetivo de: (i) adaptar a missão do produto; (ii) estudar as necessidades do consumidor; e (iii) atualizar as especificações alvo da ARCane, continuação do trabalho de equipa, para obter um produto com design e engenharia compatível com o mercado. Foi depois estabelecida a arquitetura de hardware e discutidos os componentes a ser instrumentados na ARCane. Em seguida foram realizados testes de interoperabilidade a fim de validar o funcionamento singular e coletivo dos componentes. Relativamente ao controlo de movimento, foi desenvolvido um sistema inovador, de baixo custo e intuitivo, capaz de detetar a intenção do movimento e de reconhecer as fases da marcha do utilizador. Esta implementação foi validada com seis voluntários saudáveis que realizaram testes de marcha com a ARCane para testar sua operabilidade num ambiente de contexto real. Obteve-se uma precisão de 97% e de 90% em relação à deteção da intenção de movimento e ao reconhecimento da fase da marcha do utilizador. Por fim, foi projetado um método de deteção de quedas e mecanismo de prevenção de quedas para futura implementação na ARCane. Foi ainda proposta uma melhoria do método de deteção de quedas, de modo a superar as limitações associadas, bem como a proposta de dispositivos de deteção a serem implementados na ARCane para obter um sistema completo de deteção de quedas.The act of walking is known to be the primitive form of the human being, and it brings many benefits that motivate a healthy and active lifestyle. However, there are health conditions that make walking difficult, which, consequently, can result in worse health and, in addition, lead to a greater risk of falls. Thus, the development of a fall detection and prevention system integrated with a walking aid would be essential to reduce these fall events and improve people quality of life. To overcome these needs and limitations, this dissertation aims to validate and instrument a cane-type robot, called Anti-fall Robotic Cane (ARCane), designed to incorporate a fall detection system and an actuation mechanism that allow the prevention of falls, while assisting the gait. Therefore, a State-of-the-Art review concerning robotic canes was carried out to acquire a broad and in-depth knowledge of the used components, mechanisms and strategies, as well as the experimental protocols, main results, limitations and challenges on existing devices. On a first stage, it was set an objective to (i) enhance the product's mission statement; (ii) study the consumer needs; and (iii) update the target specifications of the ARCane, extending teamwork, to obtain a product with a market-compatible design and engineering that meets the needs and desires of the ARCane users. It was then established the hardware architecture of the ARCane and discussed the electronic components that will instrument the control, sensory, actuator and power units, being afterwards subjected to interoperability tests to validate the singular and collective functioning of cane components altogether. Regarding the motion control of robotic canes, an innovative, cost-effective and intuitive motion control system was developed, providing user movement intention recognition, and identification of the user's gait phases. This implementation was validated with six healthy volunteers who carried out gait trials with the ARCane, in order to test its operability in a real context environment. An accuracy of 97% was achieved for user motion intention recognition and 90% for user gait phase recognition, using the proposed motion control system. Finally, it was idealized a fall detection method and fall prevention mechanism for a future implementation in the ARCane, based on methods applied to robotic canes in the literature. It was also proposed an improvement of the fall detection method in order to overcome its associated limitations, as well as detection devices to be implemented into the ARCane to achieve a complete fall detection system

Optimizing User Integration for Individualized Rehabilitation

User integration with assistive devices or rehabilitation protocols to improve movement function is a key principle to consider for developers to truly optimize performance gains. Better integration may entail customizing operation of devices and training programs according to several user characteristics during execution of functional tasks. These characteristics may be physical dimensions, residual capabilities, restored sensory feedback, cognitive perception, or stereotypical actions

Earth Resources. A continuing bibliography with indexes, issue 34, July 1982

This bibliography lists 567 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between April 1, and June 30, 1982. Emphasis is placed on the use of remote sensing and geophysical instrumentation in spacecraft and aircraft to survey and inventory natural resources and urban areas. Subject matter is grouped according to agriculture and forestry, environmental changes and cultural resources, geodesy and cartography, geology and mineral resources, hydrology and water management, data processing and distribution systems, instrumentation and sensors, and economic analysis

Recent Advances in Indoor Localization Systems and Technologies

Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods

Radar Imaging in Challenging Scenarios from Smart and Flexible Platforms

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Design and Development of Biofeedback Stick Technology (BfT) to Improve the Quality of Life of Walking Stick Users

Biomedical engineering has seen a rapid growth in recent times, where the aim to facilitate and equip humans with the latest technology has become widespread globally. From high-tech equipment ranging from CT scanners, MRI equipment, and laser treatments, to the design, creation, and implementation of artificial body parts, the field of biomedical engineering has significantly contributed to mankind. Biomedical engineering has facilitated many of the latest developments surrounding human mobility, with advancement in mobility aids improving human movement for people with compromised mobility either caused by an injury or health condition. A review of the literature indicated that mobility aids, especially walking sticks, and appropriate training for their use, are generally prescribed by allied health professionals (AHP) to walking stick users for rehabilitation and activities of daily living (ADL). However, feedback from AHP is limited to the clinical environment, leaving walking stick users vulnerable to falls and injuries due to incorrect usage. Hence, to mitigate the risk of falls and injuries, and to facilitate a routine appraisal of individual patient’s usage, a simple, portable, robust, and reliable tool was developed which provides the walking stick users with real-time feedback upon incorrect usage during their activities of daily living (ADL). This thesis aimed to design and develop a smart walking stick technology: Biofeedback stick technology (BfT). The design incorporates the approach of patient and public involvement (PPI) in the development of BfT to ensure that BfT was developed as per the requirements of walking stick users and AHP recommendations. The newly developed system was tested quantitatively for; validity, reliability, and reproducibility against gold standard equipment such as the 3D motion capture system, force plates, optical measurement system for orientation, weight bearing, and step count. The system was also tested qualitatively for its usability by conducting semi-informal interviews with AHPs and walking stick users. The results of these studies showed that the newly developed system has good accuracy, reported above 95% with a maximum inaccuracy of 1°. The data reported indicates good reproducibility. The angles, weight, and steps recorded by the system during experiments are within the values published in the literature. From these studies, it was concluded that, BfT has the potential to improve the lives of walking stick users and that, with few additional improvements, appropriate approval from relevant regulatory bodies, and robust clinical testing, the technology has a huge potential to carve its way to a commercial market

Marshall Space Flight Center Research and Technology Report 2017

This report features over 60 technology development and scientific research efforts that collectively aim to enable new capabilities in spaceflight, expand the reach of human exploration, and reveal new knowledge about the universe in which we live. These efforts include a wide array of strategic developments: launch propulsion technologies that facilitate more reliable, routine, and cost effective access to space; in-space propulsion developments that provide new solutions to space transportation requirements; autonomous systems designed to increase our utilization of robotics to accomplish critical missions; life support technologies that target our ability to implement closed-loop environmental resource utilization; science instruments that enable terrestrial, solar, planetary and deep space observations and discovery; and manufacturing technologies that will change the way we fabricate everything from rocket engines to in situ generated fuel and consumables

A navigation and object location device for the blind

Gemstone Team VisionTeam Vision's goal is to create a navigation system for the blind. To achieve this, we took a multi-pronged approach. First, through surveys, we assessed the needs of the blind community and developed a system around those needs. Then, using recent technology, we combined a global positioning system (GPS), inertial navigation unit (INU), computer vision algorithms, and audio and haptic interfaces into one system. The GPS and INU work together to provide walking directions from building to building when outdoors and the computer vision algorithms identify and locate objects such as signs and landmarks, both indoors and outdoors. The speech-based interface ties the GPS, INU, and computer vision algorithms together into an interactive audio-based navigation device. Finally, the haptic interface provides an alternative intuitive directional guidance system. The resulting system guides users to speci ed buildings and to important objects such as cellular telephones, wallets, or even restroom or exit signs