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1

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.

2

Wearable lower limb robotics: a review

Viteckova S., Kutilek P., Jirina M.

Biocybernetics and Biomedical Engineering

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2013

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Vol. 33, no. 2

96--105

EN

Owing to the recent progress in the field of supportive robotic technologies, interest in the area of active orthoses and exoskeletons has increased rapidly. The first attempts to create such devices took place 40 years ago. Although many solutions have been found since then, many challenges still remain. Works concerning the lower extremities and active orthoses are listed and described in this paper. The research conducted and commercially available devices are presented, and their actuation, hardware, and movements they make possible are described. In addition, possible challenges and improvements are outlined.

3

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.

4

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.