Development of a Mechatronic System for the Mirror Therapy

This paper fits into the field of research concerning robotic systems for rehabilitation. Robotic systems are going to be increasingly used to assist fragile persons and to perform rehabilitation tasks for persons affected by motion injuries. Among the recovery therapies, the mirror therapy was shown to be effective for the functional recovery of an arm after stroke. In this paper we present a master/slave robotic device based on the mirror therapy paradigm for wrist rehabilitation. The device is designed to orient the affected wrist in real time according to the imposed motion of the healthy wrist. The paper shows the kinematic analysis of the system, the numerical simulations, an experimental mechatronic set-up, and a built 3D-printed prototype.

Designing the Armadillo Orthosis: User experience design for a wearable upper limb stroke therapy device.

<p>Stroke is a medical condition causing disability worldwide (Feigin et al., 2014; Murray et al., 2012; National Heart Lung and Blood institute, 2016). It can leave people with physical and cognitive deficits. The individual’s function in everyday activities following a stroke depends on the severity of the stroke and the amount of therapy available to them. Rehabilitation for the physical impairments, such as upper limb deficits, can promote recovery and is delivered by physiotherapists and occupational therapists. Therapy takes place predominantly in the clinical environment. It is manual, task based, delivered one on one, and can be time intensive. Self-management methods for patients’ stroke rehabilitation are gaining attention from healthcare professionals (Taylor, Monsanto, Kilgour, Smith, & Hale, 2019). Rehabilitation that can be done at home has benefits for the individual, the family or caregiver, the therapist and the healthcare system. Independent rehabilitation at home reduces pressure on healthcare resources and can be beneficial for stroke patients recovery. So, medical interventions and products are shifting from clinical to community and home environments. The use of robotics for rehabilitation has the potential to support recovery of function and assist with everyday tasks in a variety of ways. This paper explores the design of a robotic device for the hand. By involving stroke patients, clinicians and carers in the design process, this research aims to improve the user experiences of a robotic device for hand rehabilitation. Designing for the user experience has the potential to improve the engagement and acceptance of the robotic device for independent home therapy. A combination of methods have been used to include users in the design process and gather qualitative data to inform the design. The methodologies include research through design and human-centred design. Research through design includes methods such as a literature review, using and adapting design criteria, prototyping, iteration, user-testing, and thematic analysis. Human-centred design is about involving users in the development process and include methods such as surveys, semi-structured interviews, observations, and user testing. There were four clinicians and seven stroke patients that met inclusion criteria and participated in the testing. Three patients and three clinician participants were involved in the interviews. Personas were used to understand user wants and needs, and to inform criteria for the design process. By using these methods we gain a better understanding of the users’ needs in order to improve the design of the pre-existing robotic upper limb stroke rehabilitation device. The purpose of the design is to meet the needs of the stroke patient in his or her own home. This design study focuses on developing the user experience by addressing usability. Interactions considered during the iterative design process are putting on and taking off the device. It is found through testing and iterations that comfort, cleaning and safety were necessary for this wearable robotic upper limb stroke therapy device to be easily worn and used in the home.</p>

Designing the Armadillo Orthosis: User experience design for a wearable upper limb stroke therapy device.

<p>Stroke is a medical condition causing disability worldwide (Feigin et al., 2014; Murray et al., 2012; National Heart Lung and Blood institute, 2016). It can leave people with physical and cognitive deficits. The individual’s function in everyday activities following a stroke depends on the severity of the stroke and the amount of therapy available to them. Rehabilitation for the physical impairments, such as upper limb deficits, can promote recovery and is delivered by physiotherapists and occupational therapists. Therapy takes place predominantly in the clinical environment. It is manual, task based, delivered one on one, and can be time intensive. Self-management methods for patients’ stroke rehabilitation are gaining attention from healthcare professionals (Taylor, Monsanto, Kilgour, Smith, & Hale, 2019). Rehabilitation that can be done at home has benefits for the individual, the family or caregiver, the therapist and the healthcare system. Independent rehabilitation at home reduces pressure on healthcare resources and can be beneficial for stroke patients recovery. So, medical interventions and products are shifting from clinical to community and home environments. The use of robotics for rehabilitation has the potential to support recovery of function and assist with everyday tasks in a variety of ways. This paper explores the design of a robotic device for the hand. By involving stroke patients, clinicians and carers in the design process, this research aims to improve the user experiences of a robotic device for hand rehabilitation. Designing for the user experience has the potential to improve the engagement and acceptance of the robotic device for independent home therapy. A combination of methods have been used to include users in the design process and gather qualitative data to inform the design. The methodologies include research through design and human-centred design. Research through design includes methods such as a literature review, using and adapting design criteria, prototyping, iteration, user-testing, and thematic analysis. Human-centred design is about involving users in the development process and include methods such as surveys, semi-structured interviews, observations, and user testing. There were four clinicians and seven stroke patients that met inclusion criteria and participated in the testing. Three patients and three clinician participants were involved in the interviews. Personas were used to understand user wants and needs, and to inform criteria for the design process. By using these methods we gain a better understanding of the users’ needs in order to improve the design of the pre-existing robotic upper limb stroke rehabilitation device. The purpose of the design is to meet the needs of the stroke patient in his or her own home. This design study focuses on developing the user experience by addressing usability. Interactions considered during the iterative design process are putting on and taking off the device. It is found through testing and iterations that comfort, cleaning and safety were necessary for this wearable robotic upper limb stroke therapy device to be easily worn and used in the home.</p>

METHODS AND MEANS OF PROVIDING REHABILITATION PROCEDURES THROUGH A BIOTECHNICAL SYSTEM WITH BIOLOGICAL FEEDBACK AND A FUZZY CONTROL MODULE

В статье описана реабилитационная биотехническая система с виртуальной реальностью, позволяющая модулю нечеткого управления осуществлять биологическую обратную связь путем сопоставления стимулирующих сигналов виртуальной реальности, электроэнцефалографических сигналов и электромиосигналов. Предложена рекурсивная математическая модель планирования процедур реабилитации с использованием биологической обратной связи, основанная на понятии функций «обучения» и «забывания», позволяющая планировать сеансы тренинга и прогнозировать их результаты. Разработано аппаратное, алгоритмическое и программное обеспечение биотехничекой системы реабилитации постинсультных больных с модулем нечеткого управления экзоскелетом, позволяющее адаптировать программу реабилитации постинсультных больных с функциональным состоянием конкретного пациента. Сформирована экспериментальная группа для оценки эффективности БТС-тренинга постинсультных больных с паретичными нижними конечностями. Контрольная группа формировалась виртуально на основе статистического анализа ретроспективных стратифицированных результатов реабилитации постинсультных больных посредством биотехнической системы с робототехническим устройством без использования модуля нечеткого управления. Исследование показало, что можно изменить показатели клинического исхода у пациентов с подострым и хроническим течением инсульта после 12 сеансов БТС-тренинга. Биотехничесая система с нечетким управлением робототехническим устройством позволяет осуществлять индивидуальную стратегию реабилитации постинсультных больных (включая целенаправленную тренировку ходьбы) The article describes a biotechnical rehabilitation system with virtual reality, which allows the fuzzy control module to carry out biological feedback by comparing stimulating signals of virtual reality, electroencephalographic signals and electromyosignals. A recursive mathematical model for planning rehabilitation procedures using biofeedback is proposed, based on the concept of “learning” and “forgetting” functions, which allows planning training sessions and predicting their results. The hardware, algorithmic and software support of the biotechnical rehabilitation system for post-stroke patients with a fuzzy exoskeleton control module has been developed, which allows to adapt the rehabilitation program for post-stroke patients with the functional state of a particular patient. An experimental group was formed to assess the effectiveness of BPS training in post-stroke patients with paretic lower extremities. The control group was formed virtually on the basis of statistical analysis of retrospective stratified results of rehabilitation of post-stroke patients using a biotechnical system with a robotic device without using a fuzzy control module. The study showed that it is possible to change the indicators of clinical outcome in patients with subacute and chronic stroke after 12 sessions of BPS training. A biotechnical system with fuzzy control of a robotic device allows an individual strategy for the rehabilitation of post-stroke patients (including targeted walking training)

Solutions for monitoring the technical condition of metal structures and pipelines located at an altitude

Periodic monitoring of the technical condition of metal constructions and pipelines at an altitude is an important part of their safe operation. For this purpose, as a rule, drones or methods of industrial climbing are used. In this research we propose a method of robotic inspection of such structures, which will substantially reduce the costs of maintenance work at an altitude and increase their level of safety. The main scientific interest is the creation of a universal kinematics adjusted to different obstacles not only on the pipelines but also on the metal constructions. In the course of the works there was conducted a fundamentally different experience in the mounting of supporting structures and metal constructions. The received knowledge was systematized in an album of the obstacles, on the basis of which the kinematics of the robotic device was modified.

Preliminary Evaluation of an Adaptive Robotic Training Program of the Wrist for Persons with Multiple Sclerosis

Robotics can be used to describe wrist kinematics and assess sensorimotor impairments, while the implementation of training algorithms can be aimed at improving neuromuscular control. The purpose of this study was to use a robotic device to develop an adaptive and individualized training program of the distal upper extremity for individuals with multiple sclerosis (MS). This approach included an online assessment of performance aimed at changing the level of assistance/resistance provided during the task. Participants (N = 7) completed a robotic training program that occurred 3 times weekly for 4 weeks. The training protocol consisted of tracking a target moving along a figure by grasping the end-effector of the robotic device and moving it along the trajectory. Outcome measures were assessed pre- and post-intervention. Improvements in performance were quantified by average tracking (p = 0.028) and figural error (p = 0.028), which was significantly reduced by 26% and 43%, respectively. Isometric wrist strength significantly improved post-intervention (flexion: p = 0.043, radial and ulnar deviation: p = 0.028). The results of this work demonstrate that 4-weeks of adaptive robotic training is a feasible rehabilitative program that has the potential to improve distal upper extremity motor accuracy and muscular strength in a MS population.