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The overview of challenges in detecting patients’ hazards during robot-aided remote home motor rehabilitation

Wilk Julia, Falkowski Piotr, Osiak Tomasz

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 4

17--27

EN

Minimally-supervised home rehabilitation has become an arising technological trend due to the shortages in medical staff. Implementing such requires providing advanced tools for automatic real-time safety monitoring. The paper presents an approach to designing the mentioned safety system based on measurements and modelling the interface between a patient’s musculoskeletal system and a rehabilitation device. The content covers the segmentation of patients regarding their health conditions and assigns them suitable measurement techniques. The defined groups are described by the hazards with which they are most endangered and their causes. Each case is correlated with the appropriate data type that may be used to detect potential risk. Moreover, a concept of using presented knowledge for tracking the safety of bones and soft tissues according to the biomechanical standards is included. The paper forms a set of guidelines for designing safety systems based on measurements for robot-aided home kinesiotherapy. It can be used to select an appropriate approach regarding a specific case; which will decrease costs and increase the accuracy of the designed tools.

2

Analyzis of rehabilitation systems in regards to requirements towards remote home rehabilitation devices

Falkowski Piotr, Rzymkowski Cezary, Pilat Zbigniew

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 2

61--73

EN

The contemporary international pandemic proved that a flexible approach towards work, trade and healthcare is not only favorable but a must. Hence, the devices enabling home‐rehabilitation became one of the urgent needs of the medical market. The following overview is a part of an R&D project aimed at designing an exoskeleton and developing methods enabling effective home rehabilitation. It contains a comparison of current devices in terms of their kinematics, applications, weights, sizes, and integration with selected ICT technologies. The data is analyzed regarding conclusions from qualitative research, based on in‐depth interviews with physiotherapists and questionnaires organized beforehand. The investigation assesses whether commercial and developed devices enable feedback from a patient by all possible means; hence, if they could allow effective telerehabilitation. Moreover, their capabilities of increasing engagement and accelerating improvements by supervising techniques and measuring biomechanical parameters are evaluated. These outcomes are a base to set the constraints and requirements before designing an exoskeleton dedicated to home treatment.

3

Light exoskeleton design with topology optimisation and FEM simulations for FFF technology

Falkowski Piotr

Journal of Automation Mobile Robotics and Intelligent Systems

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2021

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Vol. 15, No. 2

14--19

EN

Among past years interest in robot‐assisted rehabilitation arose significantly; thus, constructions such as exoskele‐ tons are involved in this process much more often. As pa‐ tient’s bio‐signals may be included in a control loop of these devices, they may be also used to support the mo‐ tion of extremities in an everyday life. Therefore, a field of control over them stays a popular research topic. For this reason, an exoskeleton described in a paper was de‐ signed. The most important aim of a project was to ena‐ ble all anatomical movements within ranges required for the lifting of an object while minimising a mass of the device. The following paper consist of a concept of an exoskeleton and description of FEM simulations and to‐ pology optimisation applied to decrease the amount of material needed. Moreover, as an exoskeleton was built with FFF 3‐D printing technology, created parts are mo‐ delled orthotopically based on nominal mechanical para‐ meters of filaments and directions of their beams. The de‐ sign is complemented with a short description of control with EMG signals and analysis of load on a user’s muscu‐ loskeletal system.

4

Human impedance parameter estimation using artificial neural network for modelling physiotherapist motion

Demir U., Kocaoğlu S., Akdoğan E.

Biocybernetics and Biomedical Engineering

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2016

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Vol. 36, no. 2

318--326

EN

Physiotherapy (physical therapy) is a form of therapy aimed at regaining patients their bodily limb motor functions. The use of what are called therapeutic exercise robots for such purposes is gradually increasing. Therapeutic exercise robots have been developed for lower and upper limbs. These robots lighten the workload of physiotherapists (PTs) by providing the movements on patients' relevant limbs. In order to get robots to perform the movements that the PT expects the patient to perform, it is required to determine the mechanical impedance parameters (inertia, stiffness and damping) due to the contact between the PT and patient's limb's, and to ensure that the robot moves according to these parameters. The aim of this study is to estimate these impedance parameters by using artificial neural networks (ANNs). Data from experiments on real subjects were used to train the network, and success was obtained using new data not presented to the network before. Subsequently, the previously acquired output was re-directed to the network with the purpose of developing a network, which can learn more accurately. Results have provided the designed ANN structure can generate necessary impedance parameter value to imitate PT motions.

5

Human-Robot Communication in Rehabilitation Devices

Dunaj J., Klimasara W. J., Pilat Z., Rycerski W.

Journal of Automation Mobile Robotics and Intelligent Systems

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2015

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Vol. 9, No. 2

9--19

EN

Robotic systems assisting physical rehabilitation are developed for both commercial purposes and personal use. In the years to come, such devices will be used mainly by the elderly, the disabled, as well as children and adults after accidents and disorders limiting their physical capabilities. As the population is getting older, the issue becomes more and more critical. A growing number of people requiring rehabilitation generate significant costs, of which personal expenses are a major component. Providing the human personnel with appropriate mechatronic devices or replacing at least some rehabilitation medicine specialists with robots could reduce physical and mental workload of physicians. Broader application of such devices will also require lower prices and improved Human-Robot Communication (HRC) solutions. This article presents general requirements regarding the communication with rehabilitation robots, presents human-robot communication solutions developed by different manufacturers, describes the system applied in RENUS robots and indicates directions in which the HRCshould evolve.

6

Planar arm movement trajectory formation: an optimization based simulation study

Zadravec M., Matjačić Z.

Biocybernetics and Biomedical Engineering

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2013

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Vol. 33, no. 2

106--117

EN

Rehabilitation of post stroke patients with upper extremity motor deficits is typically focused on relearning of motor abilities and functionalities requiring interaction with physiotherapists and/or rehabilitation robots. In a point-to-point movement training, the trajectories are usually arbitrarily determined without considering the motor impairment of the individual. In this paper, we used an optimal control model based on arm dynamics enabling also incorporation of muscle functioning constraints (i.e. simulation of muscle tightness) to find the optimal trajectories for planar arm reaching movements. First, we tested ability of the minimum joint torque cost function to replicate the trajectories obtained in previously published experimental trials done by neurologically intact subjects, and second, we predicted the optimal trajectories when muscle constraints were modeled. The resulting optimal trajectories show considerable similarity as compared to the experimental data, while on the other hand, the muscle constraints play a major role in determination of the optimal trajectories for stroke rehabilitation.

7

Egzoszkielety w procesie rehabilitacji

Głowiński S.

Autobusy : technika, eksploatacja, systemy transportowe

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2013

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R. 14, nr 3

1015-1022

PL

W artykule przedstawiono historię powstania pierwszych egzoszkieletów oraz ich możliwości zastosowania w procesie rehabilitacji. Scharakteryzowano urządzenia współczesne, ich budowę i zasadę działania wraz z zestawieniem podstawowych parametrów wybranych egzoszkieletów.

EN

Paper discussed the history of the first exoskeletons and their possible using in the rehabilitation process. The modern devices were described, their parameters, principle of operation was presented. The parameters have been characterized.

8

Bezpieczeństwo pracy z robotami rehabilitacyjnymi

Mikołajewska E., Mikołajewski D.

Bezpieczeństwo Pracy : nauka i praktyka

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2012

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nr 2

9-11

PL

Robotyka rehabilitacyjna jest postrzegana jako użycie robotów w rehabilitacji różnych schorzeń, szczególnie związanych z motoryką człowieka, kardiologicznych i neurologicznych. Może być postrzegana jako dobre rozwiązanie, aby poprawić efektywność, zaoszczędzić czas oraz zmniejszyć koszty opieki zdrowotnej osób niepełnosprawnych, ciężko chorych i w podeszłym wieku. Artykuł jest próba oceny, w jakim stopniu wykorzystuje się możliwości w tym obszarze, kładąc nacisk na bezpieczeństwo robotów rehabilitacyjnych oraz analizę zagrożeń. Ze względu na brak badań i publikacji konieczne są dalsze badania w omawianym zakresie.

EN

Rehabilitation robotics is perceived as the use of robotic devices in rehabilitating various conditions, especially motor, cardiological and neurological ones. It can be perceived as a good solution in improving efficiency, saving time and reducing the cost of healthcare of patients with disabilities, those severely ill and elderly ones. This article aims at investigating the extent to which the available opportunities are used, with a particular focus on how safe of rehabilitation robots are and what threat they pose. As there are no relevant studies or publications, further research is necessary.