Design of a Haptic Arm Exoskeleton for Training and Rehabilitation

2004 ◽  
Author(s):  
Abhishek Gupta ◽  
Marcia K. O’Malley
Keyword(s):  
Virtual Environments ◽  
Interface Design ◽  
Sensor Selection ◽  
Haptic Interface ◽  
Structural Stiffness ◽  
Robot Assisted ◽  
Human Arm ◽  
Kinesthetic Feedback ◽  
Future Work ◽  
And Training

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training.

scholarly journals Robot-Assisted Autism Therapy (RAAT). Criteria and Types of Experiments Using Anthropomorphic and Zoomorphic Robots. Review of the Research

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3720
Author(s):  
Barbara Szymona ◽  
Marcin Maciejewski ◽  
Robert Karpiński ◽  
Kamil Jonak ◽  
Elżbieta Radzikowska-Büchner ◽  
...  
Keyword(s):  
Body Schema ◽  
Autism Spectrum ◽  
The Body ◽  
Review Of The Literature ◽  
Robot Assisted ◽  
Social Contacts ◽  
Joint Activities ◽  
Autism Therapy ◽  
Real Person ◽  
Future Work

Supporting the development of a child with autism is a multi-profile therapeutic work on disturbed areas, especially understanding and linguistic expression used in social communication and development of social contacts. Previous studies show that it is possible to perform some therapy using a robot. This article is a synthesis review of the literature on research with the use of robots in the therapy of children with the diagnosis of early childhood autism. The review includes scientific journals from 2005–2021. Using descriptors: ASD (Autism Spectrum Disorders), Social robots, and Robot-based interventions, an analysis of available research in PubMed, Scopus and Web of Science was done. The results showed that a robot seems to be a great tool that encourages contact and involvement in joint activities. The review of the literature indicates the potential value of the use of robots in the therapy of people with autism as a facilitator in social contacts. Robot-Assisted Autism Therapy (RAAT) can encourage child to talk or do exercises. In the second aspect (prompting during a conversation), a robot encourages eye contact and suggests possible answers, e.g., during free conversation with a peer. In the third aspect (teaching, entertainment), the robot could play with autistic children in games supporting the development of joint attention. These types of games stimulate the development of motor skills and orientation in the body schema. In future work, a validation test would be desirable to check whether children with ASD are able to do the same with a real person by learning distrust and cheating the robot.

Sensor Selection for Dynamics-Driven User-Interface Design

2021 ◽  
pp. 1-14
Author(s):  
Abraham P. Vinod ◽  
Adam J. Thorpe ◽  
Philip A. Olaniyi ◽  
Tyler H. Summers ◽  
Meeko M. K. Oishi
Keyword(s):  
User Interface ◽  
Interface Design ◽  
User Interface Design ◽  
Sensor Selection ◽  
Selection For

scholarly journals Simulations and experimental evaluation of an active orthosis for interaction in virtual environments

2018 ◽  
Vol 145 ◽  
pp. 01006
Author(s):  
Mihail Tsveov ◽  
Pavel Venev ◽  
Dimitar Chakarov ◽  
Ivanka Veneva
Keyword(s):  
Virtual Environments ◽  
Impedance Control ◽  
Computer Experiments ◽  
Open Loop ◽  
Body Parts ◽  
Human Arm ◽  
Control Scheme ◽  
Force Reflection ◽  
Physical Quantities ◽  
Active Orthosis

In this work, the development of a human arm active orthosis is presented. The orthosis is designed primarily for training and rehabilitation in virtual environments.The orthosis system is intended for embodiment in virtual reality where it is allowing human to perceive forces at different body parts or the weight of lifted objects. In the paper the choice of a mechanical structure is shown equivalent to the structure of the human arm. A mechanical model of the orthosis arm as haptic device is built, where kinematic and dynamic parameters are evaluated. Impedance control scheme is selected as the most suitable for force refection at the hand or arm. An open-loop impedance controller is presented in the paper. Computer experiments are carried out using the dimensions of a real arm orthosis. Computer experiments have been carried out to provide force reflection by VR, according to virtual scenario. The conducted simulations show the range of the forces on the operator hand, orthosis can provide. The results of additional measurements and experimental evaluations of physical quantities in the interaction in a virtual environment are revealed in the paper.

scholarly journals An Overview of Olfactory Displays in Education and Training

2021 ◽  
Vol 5 (10) ◽  
pp. 64
Author(s):  
Miguel Angel Garcia-Ruiz ◽  
Bill Kapralos ◽  
Genaro Rebolledo-Mendez
Keyword(s):  
Literature Review ◽  
Virtual Environments ◽  
Past Research ◽  
Education And Training ◽  
Computer Interface ◽  
Information Recall ◽  
Sense Of Smell ◽  
Computer Interfaces ◽  
Human Computer Interfaces ◽  
And Training

This paper describes an overview of olfactory displays (human–computer interfaces that generate and diffuse an odor to a user to stimulate their sense of smell) that have been proposed and researched for supporting education and training. Past research has shown that olfaction (the sense of smell) can support memorization of information, stimulate information recall, and help immerse learners and trainees into educational virtual environments, as well as complement and/or supplement other human sensory channels for learning. This paper begins with an introduction to olfaction and olfactory displays, and a review of techniques for storing, generating and diffusing odors at the computer interface. The paper proceeds with a discussion on educational theories that support olfactory displays for education and training, and a literature review on olfactory displays that support learning and training. Finally, the paper summarizes the advantages and challenges regarding the development and application of olfactory displays for education and training.

scholarly journals Health monitoring modular panel: Interface design and evaluation

2018 ◽  
Vol 22 (Suppl. 4) ◽  
pp. 1259-1270
Author(s):  
Milica Vujovic ◽  
Milan Ristanovic ◽  
Marko Milos ◽  
Francisco Perales-López
Keyword(s):  
Interface Design ◽  
The Elderly ◽  
Control Group ◽  
Processing Unit ◽  
Residential Unit ◽  
Lack Of Information ◽  
User Groups ◽  
Future Work ◽  
Functional Areas ◽  
Elderly Users

In this paper we present a conceptual solution of modular panel for measuring health parameters of the elderly. The conceptual solution was followed by a study that analyzed the design and evaluated interface of the system. Modular panel contains sensors, processing unit, and interface enabling data acquisition and communication between the user and the medical staff. Positioning of the panel within the residential unit was determined by the categories of actions which it should provide and functional areas of typical housing unit. Interface design is based on a specific type of users and is on the basis of the type of data that should be collected and displayed. Evaluation of interface is conducted by using two user groups, where the first is made up of people older than 60 years and represents the interest group of the study, while the second group consisted of people younger than 60 years as the control group. The collected data were analyzed and the results indicate that the simplicity of the interface suits good to the users. Elderly users need more time to conduct certain commands, but most of them understood interface completely. The limitations of the system, such as lack of information provided for the users, will be considered in the future work.

scholarly journals Iterative Improvement and Marginal Gains in Coronary Revascularisation: Is Robot-assisted Percutaneous Coronary Intervention the New Hope?

2020 ◽  
Vol 15 ◽  
Author(s):  
Kalpa De Silva ◽  
Aung Myat ◽  
Julian Strange ◽  
Giora Weisz
Keyword(s):  
Percutaneous Coronary Intervention ◽  
Paradigm Shift ◽  
Coronary Intervention ◽  
Coronary Revascularisation ◽  
Current Position ◽  
Robot Assisted ◽  
Percutaneous Coronary ◽  
Future Potential ◽  
Iterative Improvement ◽  
And Training

Percutaneous coronary intervention (PCI) has undergone a rapid and adaptive evolution since its introduction into clinical practice more than 40 years ago. It is the most common mode of coronary revascularisation in use, with the scope, breadth and constellation of disease being treated increasing markedly over time. This has principally been driven by improvements in technology, engineering and training in the field, which has facilitated more complex PCI procedures to be undertaken safely. Robot-assisted PCI represents the next paradigm shift in contemporary PCI practice. It has the ability to enhance procedural accuracy for the patient while improving radiation safety and ergonomics for the operator. This state-of-the-art review outlines the current position and future potential of robot-assisted PCI.

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