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Characterizing the human-robot haptic dyad in robot therapy of stroke survivors

International Journal of Intelligent Computing and Cybernetics 2014年第3期7卷 267-288页

作者： Dalia De Santis Jacopo Zenzeri Maura Casadio Lorenzo Masia Valentina Squeri Pietro Morasso Robotics Brain and Cognitive Sciences DepartmentIstituto Italiano di TecnologiaGenoaItaly Department of Informatics BioengineeringRobotics and Systems EngineeringUniversity of GenoaGenoaItaly Robotic Research Center Division of Mechatronics&DesignSchool of Mechanical&Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore

Purpose–The working hypothesis,on which this paper is built,is that it is advantageous to look at protocols of robot rehabilitation in the general context of human-robot interaction in haptic *** purpose of this paper is to propose a new method to detect and evaluate an index of active participation(AC index),underlying the performance of robot-assisted *** is important for avoiding the slacking phenomenon that affects robot ***/methodology/approach–The evaluation of the AC index is based on a novel technique of assistance which does not use constant or elastic forces but trains of small force impulses,with amplitude adapted to the level of impairment and a frequency of 2 Hz,which is suggested by recent results in the field of intermittent motor control.A preliminary feasibility test of the proposed method was carried out during a haptic reaching task in the absence of visual feedback,for a group of five stroke patients and an equal group of healthy ***–The AC index appears to be stable and sensitive to training in both populations of ***/value–The main original element of this study is the proposal of the new AC index of voluntary control associated with the new method of pulsed haptic interaction.

关键词： Human-robot haptic interaction Robot therapy stroke survivors

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Upper limb bilateral symmetric training with robotic assistance and clinical outcomes for stroke A pilot study

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International Journal of Intelligent Computing and Cybernetics 2016年第1期9卷 83-104页

作者： Matt Simkins Nancy Byl Hyunchul Kim Gary Abrams Jacob Rosen Mechanical and Mechatronic Engineering and Sustainable Manufacture California State UniversityChicoCaliforniaUSA Department of Physical Therapy and Rehabilitation Science University of CaliforniaSan FranciscoCaliforniaUSA Apple Inc. Santa ClaraCaliforniaUSA Department of Neurology University of CaliforniaSan FranciscoCaliforniaUSA Department of Computer Engineering University of CaliforniaSanta CruzCaliforniaUSA

Purpose–The purpose of this paper is to evaluate the physiotherapeutic benefits of bilateral symmetric training(BST)for stroke survivors affected by ***/methodology/approach–Other studies have investigated symmetric physiotherapy.A key difficulty in previous work is in maintaining mirror-imaged trajectories between the affected and less-affected *** obstacle was overcome in this work by using a two-armed robotic exoskeleton to enforce *** total,15 subjects,W6 months post stroke were,randomly assigned to bilateral symmetric robotic training,unilateral robotic training,and standard physical ***–After 12 training sessions(90 minutes/session),the bilateral training group had the greatest intensity of movement *** also had the greatest improvement in range of motion at the *** unilateral training group showed the greatest reduction in *** limitations/implications–The rationale for symmetric physiotherapy is that it might promote connections from the undamaged brain *** robot generated copious amounts of detailed kinematic *** though these data provided insights into the human to machine interface using different training modalities,it proved difficult to draw neurological *** is recommended that future research along these lines should include measures of neurophysiological change and/or changes in neurological *** implications–This research suggests that the advantage of bilateral symmetric movement over other modalities is slight,and that robotic training has comparable results with standard *** BSTis used,care is potentially needed toavoid exacerbation of ***,this research includes a novel quantitative approach for evaluating robotic ***/value–This study is of value to therapeutic researchers interested in new physiotherapy techniques,roboticists interested in developing rehabilitation devices,or for rehabilitatio

关键词： Robotics Virtual reality Data mining Real-time systems stroke survivors Physical therapy stroke Bilateral Symmetric

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