scholarly journals Design of a pressure sensitive matrix for analyzing direct haptic patient-therapist interaction in motor rehabilitation after stroke

2017 ◽  
Vol 3 (1) ◽  
pp. 57-61
Author(s):  
Michael Pust ◽  
Ekaterina Ivanova ◽  
Henning Schmidt ◽  
Jörg Krüger
Keyword(s):  
Human Robot Interaction ◽  
Hand Position ◽  
Motor Rehabilitation ◽  
Therapeutic Approaches ◽  
Haptic Interaction ◽  
Robot Interaction ◽  
Pressure Sensitive ◽  
The Matrix ◽  
Textile Sensor ◽  
Healthy Participants

Abstract:Robot based therapy is one of the prevalent therapeutic approaches in motor stroke rehabilitation. It is often used in hospitals in combination with conventional therapy. In order to optimize human-robot interaction, we aim to investigate how a therapist physically supports patients during motor training of the upper extremities. This paper presents the design of a flexible textile sensor matrix, which measures the pressure exerted between therapist and patient during direct haptic interaction as well as the hand position and orientation in space. The matrix contains 144 sensors which enables measuring pressure intensity and localization of areas where the pressure is applied. The measurement matrix was evaluated with four healthy participants.

Organic Piezoresistive Pressure Sensitive Robotic Skin for Physical Human-Robot Interaction

2021 ◽  
Author(s):  
Danming Wei ◽  
Ruoshi Zhang ◽  
Mohammad Nasser Saadatzi ◽  
Olalekan O Olowo ◽  
Dan Popa
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Pressure Sensitive

Organic Piezoresistive Pressure Sensitive Robotic Skin for Physical Human-Robot Interaction

2020 ◽  
Author(s):  
Danming Wei ◽  
Ruoshi Zhang ◽  
Mohammad N. Saadatzi ◽  
Olalekan O. Olowo ◽  
Dan O. Popa
Keyword(s):  
Integrated Circuit ◽  
Sensor Arrays ◽  
Human Robot Interaction ◽  
Organic Polymer ◽  
Load Testing ◽  
Robot Interaction ◽  
Integrated Sensor ◽  
Pressure Sensitive ◽  
Lamination Process ◽  
Skin Pressure

Abstract Pressure sensitive robotic skins have long been investigated for applications to physical human-robot interaction (pHRI). Numerous challenges related to fabrication, sensitivity, density, and reliability remain to be addressed under various environmental and use conditions. In our previous studies, we designed novel strain gauge sensor structures for robotic skin arrays. We coated these star-shaped designs with an organic polymer piezoresistive material, Poly (3, 4-ethylenedioxythiophene)-ploy(styrenesulfonate) or PEDOT: PSS and integrated sensor arrays into elastomer robotic skins. In this paper, we describe a dry etching photolithographic method to create a stable uniform sensor layer of PEDOT:PSS onto star-shaped sensors and a lamination process for creating double-sided robotic skins that can be used with temperature compensation. An integrated circuit and load testing apparatus was designed for testing the resulting robotic skin pressure performance. Experiments were conducted to measure the loading performance of the resulting sensor prototypes and results indicate that over 80% sensor yields are possible with this fabrication process.

scholarly journals Wearable Biofeedback Improves Human-Robot Compliance during Ankle-Foot Exoskeleton-Assisted Gait Training: A Pre-Post Controlled Study in Healthy Participants

Sensors ◽  
2020 ◽  
Vol 20 (20) ◽  
pp. 5876
Author(s):  
Cristiana Pinheiro ◽  
Joana Figueiredo ◽  
Nuno Magalhães ◽  
Cristina P. Santos
Keyword(s):  
Group Performance ◽  
Gait Training ◽  
User Participation ◽  
Human Robot Interaction ◽  
Controlled Study ◽  
P Value ◽  
Joint Motion ◽  
Robot Interaction ◽  
Post Stroke ◽  
Healthy Participants

The adjunctive use of biofeedback systems with exoskeletons may accelerate post-stroke gait rehabilitation. Wearable patient-oriented human-robot interaction-based biofeedback is proposed to improve patient-exoskeleton compliance regarding the interaction torque’s direction (joint motion strategy) and magnitude (user participation strategy) through auditory and vibrotactile cues during assisted gait training, respectively. Parallel physiotherapist-oriented strategies are also proposed such that physiotherapists can follow in real-time a patient’s motor performance towards effective involvement during training. A preliminary pre-post controlled study was conducted with eight healthy participants to conclude about the biofeedback’s efficacy during gait training driven by an ankle-foot exoskeleton and guided by a technical person. For the study group, performance related to the interaction torque’s direction increased during (p-value = 0.07) and after (p-value = 0.07) joint motion training. Further, the performance regarding the interaction torque’s magnitude significantly increased during (p-value = 0.03) and after (p-value = 68.59 × 10−3) user participation training. The experimental group and a technical person reported promising usability of the biofeedback and highlighted the importance of the timely cues from physiotherapist-oriented strategies. Less significant improvements in patient–exoskeleton compliance were observed in the control group. The overall findings suggest that the proposed biofeedback was able to improve the participant-exoskeleton compliance by enhancing human-robot interaction; thus, it may be a powerful tool to accelerate post-stroke ankle-foot deformity recovery.

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

2014 ◽  
Vol 7 (3) ◽  
pp. 267-288
Author(s):  
Dalia De Santis ◽  
Jacopo Zenzeri ◽  
Maura Casadio ◽  
Lorenzo Masia ◽  
Valentina Squeri ◽  
...  
Keyword(s):  
Human Robot Interaction ◽  
New Method ◽  
General Context ◽  
Haptic Interaction ◽  
Robot Interaction ◽  
Content Type ◽  
Reaching Task ◽  
Elastic Forces ◽  
Small Force ◽  
Feasibility Test

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 dyads. The 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 movements. This is important for avoiding the slacking phenomenon that affects robot therapy. Design/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 subjects. Findings – The AC index appears to be stable and sensitive to training in both populations of subjects. Originality/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.

Workload in Human-Robot Interaction: A Review of Manipulations and Outcomes

2009 ◽  
Author(s):  
Matthew S. Prewett ◽  
Kristin N. Saboe ◽  
Ryan C. Johnson ◽  
Michael D. Coovert ◽  
Linda R. Elliott
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction

Biomimetic, sociable robots for human-robot interaction

2010 ◽  
Author(s):  
Eleanore Edson ◽  
Judith Lytle ◽  
Thomas McKenna
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction

The role and relationship of mindreading and social attunement in HRI – position statements of interdisciplinary researchers. Workshop HRI'20

2020 ◽  
Author(s):  
Agnieszka Wykowska ◽  
Jairo Pérez-Osorio ◽  
Stefan Kopp
Keyword(s):  
Mental States ◽  
Human Robot Interaction ◽  
Human Interaction ◽  
Artificial Agents ◽  
The Novel ◽  
Robot Interaction ◽  
Novel Coronavirus ◽  
Relationship Of ◽  
The Relationship

This booklet is a collection of the position statements accepted for the HRI’20 conference workshop “Social Cognition for HRI: Exploring the relationship between mindreading and social attunement in human-robot interaction” (Wykowska, Perez-Osorio & Kopp, 2020). Unfortunately, due to the rapid unfolding of the novel coronavirus at the beginning of the present year, the conference and consequently our workshop, were canceled. On the light of these events, we decided to put together the positions statements accepted for the workshop. The contributions collected in these pages highlight the role of attribution of mental states to artificial agents in human-robot interaction, and precisely the quality and presence of social attunement mechanisms that are known to make human interaction smooth, efficient, and robust. These papers also accentuate the importance of the multidisciplinary approach to advance the understanding of the factors and the consequences of social interactions with artificial agents.

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