Exoskeletal Robots for Elbow Motion Support : Compensation of Upper-Limb Posture Change Using Neural Networks

Author(s):  
K. Kiguchi ◽  
S. Kariya ◽  
T. Tanaka ◽  
N. Hatao ◽  
K. Watanabe ◽  
...  
2005 ◽  
Vol 5 (1) ◽  
pp. 43-56
Author(s):  
Danuta Roman-Liu ◽  
Krzysztof Kȩdzior

The aim of this study was to compare the influence of constant or intermittent load on muscle activation and fatigue. The analysis and assessment of muscular activation and fatigue was based on surface EMG measurements from eight muscles (seven muscles of the right upper limb and trapezius muscle). Two EMG signal parameters were analyzed for each of the experimental conditions distinguished by the value of the external force and the character of the load – constant or intermittent. The amplitude related to its maximum (AMP) and the slope of the regression line between time and median frequency (SMF) were the EMG parameters that were analyzed. The results showed that constant load caused higher muscular fatigue than intermittent load despite the lower value of the external force and lower muscle activation. Results suggest that additional external force might influence muscle activation and fatigue more than upper limb posture. The results of the study support the thesis that all biomechanical factors which influence upper limb load and fatigue (upper limb posture, external force and time sequences) should be considered when work stands and work processes are designed. They also indicate that constant load should be especially avoided.


Author(s):  
Hadar Lackritz ◽  
Yisrael Parmet ◽  
Silvi Frenkel-Toledo ◽  
Melanie C. Baniña ◽  
Nachum Soroker ◽  
...  

Abstract Background Hemiparesis following stroke is often accompanied by spasticity. Spasticity is one factor among the multiple components of the upper motor neuron syndrome that contributes to movement impairment. However, the specific contribution of spasticity is difficult to isolate and quantify. We propose a new method of quantification and evaluation of the impact of spasticity on the quality of movement following stroke. Methods Spasticity was assessed using the Tonic Stretch Reflex Threshold (TSRT). TSRT was analyzed in relation to stochastic models of motion to quantify the deviation of the hemiparetic upper limb motion from the normal motion patterns during a reaching task. Specifically, we assessed the impact of spasticity in the elbow flexors on reaching motion patterns using two distinct measures of the ‘distance’ between pathological and normal movement, (a) the bidirectional Kullback–Liebler divergence (BKLD) and (b) Hellinger’s distance (HD). These measures differ in their sensitivity to different confounding variables. Motor impairment was assessed clinically by the Fugl-Meyer assessment scale for the upper extremity (FMA-UE). Forty-two first-event stroke patients in the subacute phase and 13 healthy controls of similar age participated in the study. Elbow motion was analyzed in the context of repeated reach-to-grasp movements towards four differently located targets. Log-BKLD and HD along with movement time, final elbow extension angle, mean elbow velocity, peak elbow velocity, and the number of velocity peaks of the elbow motion were computed. Results Upper limb kinematics in patients with lower FMA-UE scores (greater impairment) showed greater deviation from normality when the distance between impaired and normal elbow motion was analyzed either with the BKLD or HD measures. The severity of spasticity, reflected by the TSRT, was related to the distance between impaired and normal elbow motion analyzed with either distance measure. Mean elbow velocity differed between targets, however HD was not sensitive to target location. This may point at effects of spasticity on motion quality that go beyond effects on velocity. Conclusions The two methods for analyzing pathological movement post-stroke provide new options for studying the relationship between spasticity and movement quality under different spatiotemporal constraints.


2020 ◽  
Vol 31 (3) ◽  
pp. 263-271
Author(s):  
Martins Ab ◽  
Lopes Es ◽  
Pagnussat Mb ◽  
Fiedler Nc ◽  
Oliveira Fm
Keyword(s):  

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Basilio Lenzo ◽  
Marco Fontana ◽  
Simone Marcheschi ◽  
Fabio Salsedo ◽  
Antonio Frisoli ◽  
...  

This article introduces the design and the experimental validation of the Trackhold, a novel mechanical motion-tracker for upper limb physical rehabilitation. The Trackhold is based on a passively balanced mechanism that can approximately relieve the weight of the patient’s arm regardless of the position. The system features a novel kinematic architecture with large workspace and custom developed joint sensors providing accurate real-time measure of the upper limb posture. The design approach of the device, which went through kinetostatic and dynamic analyses, is presented and details on the employed mechatronic solutions are provided. A prototype of the Trackhold has been fabricated and functionally validated.


2015 ◽  
Vol 10 (11) ◽  
pp. 1863-1871 ◽  
Author(s):  
Di Zhang ◽  
Salvatore Sessa ◽  
Weisheng Kong ◽  
Sarah Cosentino ◽  
Daniele Magistro ◽  
...  

2016 ◽  
Vol 27 ◽  
pp. 95-101 ◽  
Author(s):  
Davis A. Forman ◽  
Julianne Baarbé ◽  
Julian Daligadu ◽  
Bernadette Murphy ◽  
Michael W.R. Holmes

2015 ◽  
Vol 15 (1) ◽  
pp. 138-143
Author(s):  
Feniks Bonilya ◽  
Evgeniy Lukyanov ◽  
Anatoliy Litvin ◽  
Dmitriy Deplov

Mechanik ◽  
2018 ◽  
Vol 91 (7) ◽  
pp. 582-584
Author(s):  
Jarosław Jankowski ◽  
Klaudiusz Ziemek

Human integration with the exoskeleton, so that it correctly reflects the intentions of the user, requires the use of an appropriate control method containing an intent detection algorithm. The article presents the assumptions concerning the construction of the upper limb exoskeleton, the preliminary research procedure and the pre-developed methods of controlling the assistance manipulator based on the analysis of the electromyographic signal (EMG) characteristics and the use of neural networks.


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