scholarly journals A Preliminary Study on the Use of Haptic Feedback to Assist Users with Impaired Arm Coordination During Mouse Interactions

2011 ◽  
Vol 8 (1) ◽  
pp. 13-20
Author(s):  
N. G. Tsagarakis ◽  
D. G. Caldwell
Keyword(s):  
Upper Limb ◽  
Haptic Feedback ◽  
Experimental System ◽  
Tracking Tasks ◽  
Central Nervous System Dysfunction ◽  
Erratic Motion ◽  
Impaired User ◽  
Two Degree Of Freedom ◽  
Assistive Robotic ◽  
Motion Suppression

Physical movement impairments caused by central nervous system dysfunction or by muscle spasms generated from other neurological damage or dysfunction can often make it difficult or impossible for affected individuals to interact with computer generated environments using the conventional mouse interfaces. This work investigates the use of a 2 dimensional haptic device as an assistive robotic aid to minimize the effects of the pathological absence of motor control on the upper limb in impaired users while using a mouse interface. The haptic system used in this research is a two degree of freedom (DOF) Pantograph planar device. To detect the intended user motion, the device is equipped with force sensing allowing the monitoring of the user applied loads. Impedance based techniques are used to develop a “clumsy” motion suppression control system. The erratic motion suppression techniques and the experimental system setup are evaluated in two dimensional tracking tasks using a human subject with failure of the gross coordination of the upper limb muscle movements resulting from a disorder called ‘Muscle Ataxia’. The results presented demonstrate the ability of the system to improve the tracking performance of the impaired user while interacting with a simple computer generated 2D space.

A Socially Assistive Robotic Platform for Upper-Limb Rehabilitation: A Longitudinal Study With Pediatric Patients

2019 ◽  
Vol 26 (2) ◽  
pp. 24-39 ◽  
Author(s):  
Jose Carlos Pulido ◽  
Cristina Suarez-Mejias ◽  
Jose Carlos Gonzalez ◽  
Alvaro Duenas Ruiz ◽  
Patricia Ferrand Ferri ◽  
...  
Keyword(s):  
Longitudinal Study ◽  
Upper Limb ◽  
Pediatric Patients ◽  
Robotic Platform ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation ◽  
Assistive Robotic

Development and analysis of a gravity-balanced exoskeleton for active rehabilitation training of upper limb

2016 ◽  
Vol 230 (20) ◽  
pp. 3777-3790 ◽  
Author(s):  
Qingcong Wu ◽  
Xingsong Wang ◽  
Fengpo Du
Keyword(s):  
Upper Limb ◽  
Energetic Efficiency ◽  
Anthropometric Parameters ◽  
Natural Interaction ◽  
Hybrid Strategy ◽  
Rehabilitation Training ◽  
Tracking Tasks ◽  
Human Arm ◽  
Active Rehabilitation ◽  
The Cost

Robot-assisted therapy has become an important technology applied in rehabilitation engineering, allowing patients with motion impairment problems to perform training programs without continuous supervision from physiotherapists. The goal of this paper is to develop a gravity balanced exoskeleton for active rehabilitation training of upper limb. The mechanical structure and kinematics of the exoskeleton are described and optimized to enable natural interaction with user and avoid singular configurations within the desired workspace. The gravity balancing of the human arm and mechanism is achieved through a hybrid strategy making use of auxiliary links and zero-free-length springs to balance the effect of gravity over the range of motion. The balance errors resulting from the variation of anthropometric parameters are analyzed and discussed. Further experiments involving trajectories tracking tasks with and without gravity balancing are conducted to evaluate the improvement of the control performance and energetic efficiency made by the developed balanced mechanism. The experimental results indicate that the proposed balance strategy can achieve a reduction of 34.56% in overall power consumption compared with the cost in unbalanced condition.

Upper Limb Motion Profile During Small to Medium Time-Limited Reaching Tasks in a VR Based Robotic Training Environment

2007 ◽  
Author(s):  
Evagoras G. Xydas ◽  
Loucas S. Louca
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Upper Limb ◽  
Haptic Feedback ◽  
Control Function ◽  
Rehabilitation Robotics ◽  
Working Environment ◽  
Therapeutic Effects ◽  
Robotic Training ◽  
Minimum Jerk

In the area of rehabilitation robotics, many researchers have investigated the therapeutic effects of forces that are proportional to the difference of the user’s hand trajectory with an optimum trajectory that is usually based on the Minimum Jerk Model (MJM). Forces applied in different studies were based on MJM trajectory variables, e.g., velocity, acceleration, position, etc. Consequently, MJM is a key component for upper limb robotic rehabilitation. However, it is critical to establish the validity of this model in the working environment prior of employing it as a reference control function. This work investigates the validity of the MJM under a haptic-virtual environment. The original ‘real’ tests (with no obstacles) that were employed for validating the MJM in planar motion are duplicated in a virtual environment. Haptic feedback is achieved with the use of a Phantom 1.5 High Force haptic interface. Experiments with healthy users are performed to investigate the validity of the MJM in virtual reality conditions. The experiments demonstrated that the MJM is also valid in virtual environments. Nevertheless it was found that in the virtual world, higher time durations are required for completing the tasks than in the real world. The results of this work will be used in the design of haptic-virtual environments for the rehabilitation of upper limbs of people with neuro-disabilities. Therapeutic forces based on the MJM can be applied given that the Minimum Jerk Model is valid in virtual environments.

Closed-Loop Vibratory Haptic Feedback in Upper-Limb Prosthetic Users

2014 ◽  
Vol 26 (3) ◽  
pp. 120-127 ◽  
Author(s):  
Pravin Chaubey ◽  
Teri Rosenbaum-Chou ◽  
Wayne Daly ◽  
David Boone
Keyword(s):  
Upper Limb ◽  
Closed Loop ◽  
Haptic Feedback

scholarly journals A Hybrid Haptic Feedback Stimulation Device to Recover the Missing Sensation of the Upper Limb Amputees

2020 ◽  
Vol 834 ◽  
pp. 012013
Author(s):  
Mohammed Najeh Nemah ◽  
Omar Hammad Aldulaymi ◽  
Cheng Yee Low ◽  
Noor Ayuni Che Zakaria ◽  
Shahrol Mohamaddan
Keyword(s):  
Upper Limb ◽  
Haptic Feedback

scholarly journals Design and Preliminary Evaluation of a Tongue-Operated Exoskeleton System for Upper Limb Rehabilitation

2021 ◽  
Vol 18 (16) ◽  
pp. 8708
Author(s):  
Zhenxuan Zhang ◽  
Boris I. Prilutsky ◽  
Andrew J. Butler ◽  
Minoru Shinohara ◽  
Maysam Ghovanloo
Keyword(s):  
Upper Extremity ◽  
Upper Limb ◽  
Assistive Device ◽  
Preliminary Evaluation ◽  
Upper Limb Rehabilitation ◽  
Upper Limb Function ◽  
Tracking Tasks ◽  
Arm Reaching ◽  
Upper Extremity Impairment ◽  
Limb Rehabilitation

Stroke is a devastating condition that may cause upper limb paralysis. Robotic rehabilitation with self-initiated and assisted movements is a promising technology that could help restore upper limb function. Previous studies have established that the tongue motion can be used to communicate human intent and control a rehabilitation robot/assistive device. The goal of this study was to evaluate a tongue-operated exoskeleton system (TDS-KA), which we have developed for upper limb rehabilitation. We adopted a tongue-operated assistive technology, called the tongue drive system (TDS), and interfaced it with the exoskeleton KINARM. We also developed arm reaching and tracking tasks, controlled by different tongue operation modes, for training and evaluation of arm motor function. Arm reaching and tracking tasks were tested in 10 healthy participants (seven males and three females, 23–60 years) and two female stroke survivors with upper extremity impairment (32 and 58 years). All healthy and two stroke participants successfully performed the tasks. One stroke subject demonstrated a clinically significant improvement in Fugl-Meyer upper extremity score after practicing the tasks in six 3-h sessions. We conclude that the TDS-KA system can accurately translate tongue commands to exoskeleton arm movements, quantify the function of the arm, and perform rehabilitation training.

scholarly journals Serious Game Platform with Haptic Feedback and EMG Monitoring for Upper Limb Rehabilitation and Smoothness Quantification on Spinal Cord Injury Patients

2020 ◽  
Vol 10 (3) ◽  
pp. 963 ◽  
Author(s):  
Álvaro Gutiérrez ◽  
Delia Sepúlveda-Muñoz ◽  
Ángel Gil-Agudo ◽  
Ana de los Reyes Guzmán
Keyword(s):  
Spinal Cord ◽  
Virtual Reality ◽  
Upper Limb ◽  
Haptic Feedback ◽  
Cervical Spinal Cord ◽  
Upper Limb Rehabilitation ◽  
Cord Injury ◽  
Arm Muscles ◽  
Limb Rehabilitation ◽  
Injured Patients

Cervical Spinal Cord injury (SCI) is a neurological disease that produces, as a consequence, impairments of the upper limb function. This paper illustrates a virtual reality platform based on three serious games for upper limb rehabilitation with electromyography monitoring, providing force feedback to the patient. In the rehabilitation process proposed, haptic feedback was provided to the patients to strength the arm muscles by means of the Novint Falcon device. This end-effector device was used to manipulate the serious games. During the therapy performance, the system recorded electromyography signals from the patient’s arm muscles, which may be used to monitor muscle contraction. The work presented a virtual reality system developed for spinal cord-injured patients. Each virtual reality environment could be modified in strength and duration according to the patients’ needs and was implemented for recording quantitative data about the motor performance. The platform was validated as a proof of concept in cervical spinal cord-injured patients. Results showed that this rehabilitation platform could be used for obtaining objective information in relation to motor control characteristics.

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