A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for the lower limbs

2010 ◽  
Author(s):  
Fabrizio Sergi ◽  
Dino Accoto ◽  
Nevio L. Tagliamonte ◽  
Giorgio Carpino ◽  
Eugenio Guglielmelli
Keyword(s):  
Lower Limbs ◽  
Kinematic Synthesis ◽  
Wearable Robots

scholarly journals Assessing Effectiveness and Costs in Robot-Mediated Lower Limbs Rehabilitation: A Meta-Analysis and State of the Art

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Giorgio Carpino ◽  
Alessandra Pezzola ◽  
Michele Urbano ◽  
Eugenio Guglielmelli
Keyword(s):  
Meta Analysis ◽  
Cost Effective ◽  
Conventional Approach ◽  
Lower Limbs ◽  
Secondary Outcome ◽  
Robotic Rehabilitation ◽  
Wearable Robots ◽  
Cost Effective Approach ◽  
Significant Difference ◽  
The Cost

Robots were introduced in rehabilitation in the 90s to meet different needs, that is, reducing the physical effort of therapists. This work consists of a meta-analysis of robot-mediated lower limbs rehabilitation for stroke-affected patients; it aims at evaluating the effectiveness of the robotic approach through the use of wearable robots or operational machines with respect to the conventional approach (i.e., manual rehabilitation therapy). The primary assessed outcome is the patient’s ability to recover walking independence, whereas the secondary outcome is the average walking speed. The therapy acceptability and the treatment costs are also assessed. The assessment shows that the robot-mediated therapy is more effective than the conventional one in reaching the primary outcome. As for the secondary outcome, there is no significant difference between the robotic (wearable robots or operational machines) and the conventional approach. Rehabilitation using wearable robots has a greater acceptability than the conventional one. This does not apply to operational machines. The cost of robotic treatment with wearable robots ranges from double to triple the cost of the conventional approach. On the contrary, rehabilitation using operational machines costs the same as the conventional treatment. Robotic rehabilitation based on operational machines is the most cost-effective approach.

scholarly journals Pre-Impact Detection Algorithm to Identify Tripping Events Using Wearable Sensors

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3713
Author(s):  
Federica Aprigliano ◽  
Silvestro Micera ◽  
Vito Monaco
Keyword(s):  
Wearable Sensors ◽  
Detection Algorithm ◽  
Lower Limbs ◽  
False Alarms ◽  
Daily Life Activities ◽  
Impact Detection ◽  
Wearable Robots ◽  
Adaptive Oscillators ◽  
Young Subjects ◽  
Smart Garments

This study aimed to investigate the performance of an updated version of our pre-impact detection algorithm parsing out the output of a set of Inertial Measurement Units (IMUs) placed on lower limbs and designed to recognize signs of lack of balance due to tripping. Eight young subjects were asked to manage tripping events while walking on a treadmill. An adaptive threshold-based algorithm, relying on a pool of adaptive oscillators, was tuned to identify abrupt kinematics modifications during tripping. Inputs of the algorithm were the elevation angles of lower limb segments, as estimated by IMUs located on thighs, shanks and feet. The results showed that the proposed algorithm can identify a lack of balance in about 0.37 ± 0.11 s after the onset of the perturbation, with a low percentage of false alarms (<10%), by using only data related to the perturbed shank. The proposed algorithm can hence be considered a multi-purpose tool to identify different perturbations (i.e., slippage and tripping). In this respect, it can be implemented for different wearable applications (e.g., smart garments or wearable robots) and adopted during daily life activities to enable on-demand injury prevention systems prior to fall impacts.

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots

2010 ◽  
Author(s):  
Fabrizio Sergi ◽  
Dino Accoto ◽  
Nevio Luigi Tagliamonte ◽  
Giorgio Carpino ◽  
Lakshmi Pathiyil ◽  
...  
Keyword(s):  
Kinematic Synthesis ◽  
Wearable Robots

Modelling and simulation of a system for verticalization and aiding the motion of individuals suffering from paresis of the lower limbs

2013 ◽  
Vol 61 (4) ◽  
pp. 919-928 ◽  
Author(s):  
K. Bagiński ◽  
D. Jasińska-Choromańska ◽  
J. Wierciak
Keyword(s):  
Simulation Model ◽  
Human Body ◽  
Modelling And Simulation ◽  
Lower Limbs ◽  
Significant Feature ◽  
Simulation Studies ◽  
Power Demand ◽  
Wearable Robots ◽  
Human Muscles

Abstract There has been designed a device for verticalization and aiding the gait of individuals suffering from paresis of the lower limbs. It can be counted in the category of so-called “wearable robots”, whose task is to replace or aid human limbs. Dependently on the function realized, these robots are classified into one of the following three groups: a) exoskeletons - strengthening the force of human muscles beyond their natural abilities, b) orthotic robots - restoring lost or weakened functions of human limbs, c) prosthetic robots - replacing an amputated limb. A significant feature of the device that has been designed is the fact that it has not to replace human limbs, but only restore them to their lost motor capabilities. Thus, according to the presented classification, it is an orthotic robot. Unlike in the case of the existing systems for verticalization, the gait is to be realized in a way that is automatic to the highest possible extent, keeping the user involved as little as possible, and the device is to imitate the natural movements of man with the highest fidelity. Within the works on the system for verticalization and aiding the motion, a simulation model of the device was created. It includes a structure of the robot, a model of the actuators and a model of the human body that constitutes the load for the driving units. Then, simulation studies were carried out, including evaluation of the power demand of the device as well as the influence of the gait rate and of the length of the steps on the operation of the system.

Mid-aortic syndrome: computed tomography angiography depicting extensive collateral circulation in an 11-year-old patient with thoracoabdominal aortic coarctation

VASA ◽  
2012 ◽  
Vol 41 (2) ◽  
pp. 132-135 ◽  
Author(s):  
Krohn ◽  
Gebauer ◽  
Hübler ◽  
Beck
Keyword(s):  
Computed Tomography ◽  
Computed Tomography Angiography ◽  
Collateral Circulation ◽  
Intestinal Ischemia ◽  
Clinical Presentation ◽  
Lower Limbs ◽  
Upper Body ◽  
Descending Aorta ◽  
Before And After ◽  
Blood Pressures

The mid-aortic syndrome is an uncommon clinical condition characterized by severe narrowing of the descending aorta, usually with involvement of its renal and visceral branches, presenting with uncontrollably elevated blood pressures of the upper body, renal and cardiac failure, intestinal ischemia, encephalopathy symptoms and claudication of the lower limbs, although clinical presentation is variable. In this article we report the case of an eleven-year-old patient with the initial diagnosis of a mid-aortic syndrome and present the computed tomography angiography pictures and reconstructions before and after surgical therapy.

Stroke Therapy Using Wearable Robots and Ramachandran Mirror Technique Produces Functional Improvement

2007 ◽  
Author(s):  
Michael K. McBeath ◽  
Flavio DaSilva ◽  
Thomas G. Sugar ◽  
Nancy E. Wechsler ◽  
James Koeneman
Keyword(s):  
Functional Improvement ◽  
Stroke Therapy ◽  
Wearable Robots

Comparison of standardised lymphoscintigraphic function test and high resolution sonography of the lymphoedema of legs

Phlebologie ◽  
2008 ◽  
Vol 37 (05) ◽  
pp. 247-252 ◽  
Author(s):  
V. S. Brauer ◽  
W. J. Brauer
Keyword(s):  
Lower Leg ◽  
Clinical Findings ◽  
Lower Limbs ◽  
Fatty Tissue ◽  
Qualitative And Quantitative ◽  
Function Test ◽  
Unreliable Method ◽  
Negative Conclusion ◽  
Fine Disperse

SummaryPurpose: Comparison of qualitative and quantitative sonography with the lymphoscintigraphic function test and clinical findings in legs. Patients, methods: In 33 patients a lymphoscintigraphic function test of legs combined with measurement of lymph node uptake was performed and subsequently compared with sonography. Sonographic criteria were: Thickness of cutis, thickness of subcutanean fatty tissue and presence of liquid structures or fine disperse tissue structure of lower limbs, foots and toes. Results: In 51 legs uptake values lie in the pathologic area, in four legs in the grey area and in ten legs in the normal area. The cutis thickness in the lower leg shows no significant correlation with the uptake. The determination of the thickness of the subcutanean fatty tissue of the lower leg and of the cutis thickness of the feet turned out to be an unreliable method. In 47% of the medial lower legs and in 57% of the lateral lower legs with clinical lymphoedema sonography is falsely negative. Conclusion: Early lymphoedema is only detectable with the lymphoscintigraphic function test. In the case of clinical lymphoedema clinical examination is more reliable than sonography.

Untersuchungen zur Quantifizierung der Änderung der Skelettmuskeldurchblutung nach Gefäßrevaskularisationen mit einem 99mTechnetiummarkierten Tracer

1990 ◽  
Vol 29 (05) ◽  
pp. 215-220 ◽  
Author(s):  
R. Benning ◽  
K. Nagel ◽  
M. Jugenheimer ◽  
S. Fischer ◽  
S. Worthmann ◽  
...  
Keyword(s):  
Transluminal Angioplasty ◽  
Lower Limbs ◽  
Surgical Patients ◽  
Treadmill Test ◽  
Negative Results ◽  
Clinical Observations ◽  
Before And After ◽  
Comparative Results ◽  
First Time ◽  
Percutaneous Transluminal

A new 99mTc-labelled tracer (99mTc-Sestanriibi) was used for the first time to demonstrate the perfusion of the skeletal muscle. In 16 patients with obstructive atherosclerosis of the lower limbs the change of perfusion of thigh and lower leg was studied with SPECT before and after vascular surgery (n = 11) or percutaneous transluminal angioplasty (n = 5). Comparative results of scintigraphic measurements and clinical observations (ancle-arm pressure, treadmill test) in 10 surgical patients (14 operated legs) showed correct positive or negative results in 86% (12/14).

Sign in / Sign up

Export Citation Format

Share Document