Development of a Home-based Computer Assisted Arm Rehabilitation (hCAAR) Device for Upper Limb Exercises in Stroke Patients PDF Download
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Author: Manoj Sivan
Publisher:
ISBN:
Category :
Languages : en
Pages : 468
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Author: Manoj Sivan
Publisher:
ISBN:
Category :
Languages : en
Pages : 468
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Author: Yupu Wang
Publisher:
ISBN:
Category : Arm
Languages : en
Pages : 120
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Book Description
Current upper limb rehabilitation for stroke patients is based on a conventional physical therapy supervised by therapists. The most of the robot-based rehabilitation is developing under a bulky machine which is not suitable for home use. High rehabilitation fees and inconvenience in use lead patients from ordinary home to miss the suitable time in rehabilitation. This research explores an end-effector device which is light and suitable for the home environment. By balancing the contradiction of device function achievement and ordinary home use, this 3 DOF rehabilitation device is the appropriate choice for the current situation. Different with other low-cost devices in the markets, it can provide an assistant force in the recovery process. It makes severe patients can take passive rehabilitation exercises under totally device leading and minor stroke patients take active rehabilitation exercises by their own intention. After studying the upper limb motions in normal physical actions, the joint movement in those motions is discussed with details. Some effective recovery tasks are achieved by analyzing the conventional physical exercise for stroke. The research of human-machine interaction is conducted to reveal a method in interaction tasks design. The new version of device is designed and has the potential for better performance in structural stability, but the development in software and testing of new strategies are implemented on the old version because of funding issue. Different recovery patterns with different control strategies are exploited and compared in this article to select the appropriate training model in upper limb rehabilitation. The approach of novel human-machine interface, control strategy and upper limb recovery strategy built in this research offers a potential inspiration in upper limb rehabilitation device development.
Author: Chung-che Wei
Publisher:
ISBN:
Category : Arm exercises
Languages : en
Pages : 162
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Book Description
Stroke is a serious medical condition that often involves the death of the recipient. Although fatality is not definite, many stroke survivors tend to suffer the inconvenience of losing the functions of their limbs. Studies have shown that task oriented recursive movements can help stroke affected individuals to recover mobility of their damaged limbs. Manual therapy used to make stroke patients recover movement is successful, but robot-assisted therapy excels in many fields including accuracy and repeatability. Many currently available rehabilitation robots share common disaffections of being overly complex, costly and voluminous. A compact and inexpensive upper limb rehabilitation device was therefore developed in this study to provide stroke therapy to the general public. For the developed rehabilitation device, DC motors were selected as the actuator of the system for their high power and torque capabilities. PID controller was implemented for control of motor position, while trapezoidal velocity profile was employed for motor speed control. Sensors such as accelerometers, encoders and strain gauges were utilized to provide detailed data of the rehabilitator and various onboard components. Safety was enforced with both boundary walls and limit switches, as well as software controlled emergency stop. Microcontrollers were used as the system controllers, with a main Master microcontroller handling system operations while two Slave microcontrollers were dedicated to the control of the DC motors. A GUI was developed for the PC to allow interfacing and control of the rehabilitator. The program permits tuning of various robot parameters, and offers different therapy modes as well as an interactive game. The upper limb rehabilitation device developed has followed the set specifications and achieved the desired performance. The rehabilitator is capable of producing successful trajectory runs with a maximum error of 5 mm at low speed (1.88 rad/s) and 6 mm at high speed (3.77 rad/s) under no load condition. Similar results were also obtained maximum deviation of 4 mm at low speed and 6 mm at high speed under arm loaded setup.
Author: Mohamad Hoda
Publisher:
ISBN:
Category :
Languages : en
Pages :
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It is well known that home exercise is as good as rehab center. Unfortunately, passive devices such as dumbbells, elastic bands, stress balls and tubing that have been widely used for home-based arm rehabilitation do not provide therapists with the information needed to monitor the patient's progress, identify any impairment, and suggest treatments. Moreover, the lack of interactivity of these devices turns the rehabilitation exercises into a boring, unpleasant task. In this thesis, we introduce a family of home-based post-stroke rehabilitation systems aimed at solving the aforementioned problems. We call such applications: "Shared Haptic Environment on the Cloud for Arm Rehabilitation Exercises (SHECARE)". The systems combine recent rehabilitation approaches with efficient, yet affordable skeleton tracking input technologies, and multimodal interactive computer environment. In addition, the systems provide a real-time feedback to the stroke patients, summarize the feedback after each session, and predict the overall recovery progress. Moreover, these systems show a new style of home-based rehabilitation approach that motivate the patients by engaging the whole family and friends in the rehabilitation process and allow the therapists to remotely assess the progress of the patients and adjust the training strategy accordingly. Two mathematical models have been presented in this thesis. The first model is developed to find the relationship between upper extremity kinematics and the associated forces/strength. The second model is used to evaluate the medical condition of the stroke patients and predict their recovery progress depending on their performance history. The objective assessments, clinical tests, and the subjective assessments, usability studies have shown the feasibility of the proposed systems for rehabilitation in stroke patients with upper limb motor dysfunction.
Author: Bo Sheng
Publisher:
ISBN:
Category : Arm
Languages : en
Pages : 237
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Book Description
Robot-assisted rehabilitation solutions are being proposed as therapeutic adjuncts to facilitate clinical applications in recent decades. They would allow therapists to be emancipated from physically intensive work, and more advanced and interesting rehabilitation training could become accessible to patients with low cost. To date, several rehabilitation devices have been developed or revised to perform bilateral exercises. A new therapy method has been proposed in recent decades, based on the finding that bilateral exercises might promote functional improvement through the reinforcement of corticospinal pathways from the intact hemisphere to the affected arm. However, the safety and reliability of existing bilateral rehabilitation devices is yet to be confirmed, and the cost will be high if the device is expected to provide true bilateral exercises in three-dimensional (3D) space. The goal of this dissertation is therefore to develop a new bilateral rehabilitation system for upper-limb rehabilitation, aiming for safe, stable, and interesting bilateral training for stroke survivors. Some biological data can be measured objectively and in a timely fashion through the proposed bilateral rehabilitation system, which would be analysed to assess recovery stages and further explore bilateral recovery processes. The proposed bilateral rehabilitation system has been developed, validated and utilised in four studies discussed in this thesis. The first one is to develop an industrial robot-based bilateral rehabilitation device for upper limbs including hardware and software, which should be capable of providing a safe and stable training environment. The second one is to develop an intelligent bilateral training subsystem, which is expected to provide true robot-assisted bilateral exercises to cover different recovery stages. The third one is to explore muscle activation patterns during different bilateral training based on the proposed bilateral device and training protocols. These muscle activation patterns can be used as the foundation for the development of bilateral devices, training protocols, and assessment criteria. The last one is to develop a biological signal-based evaluator, which can select different training protocols according to personal biological data. So far, a total of 18 healthy participants have been recruited for evaluating the proposed bilateral rehabilitation system (13 participants tested the device and 5participants tested the evaluator). The results of the experiment show that the proposed bilateral rehabilitation device is safe and stable, the training protocols are reliable and interesting, and the evaluator is objective and time-saving. Meanwhile, the muscle activation patterns gathered using the system are informative, which can help in understanding the cooperation mechanism of each pair of muscles under different bilateral training conditions, and further evaluate the effectiveness of robot-assisted bilateral training. In summary, the developed bilateral rehabilitation system and a comprehensive and systematic study from this work has demonstrated that such a system has the potential for clinical applications with safe, reliable, stimulating, and informative bilateral exercises.
Author: Sado Fatai
Publisher:
ISBN:
Category :
Languages : en
Pages : 190
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Author: Melissa Sandison
Publisher:
ISBN:
Category : Cerebrovascular disease
Languages : en
Pages : 92
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Book Description
Stroke is the leading cause of severe long-term disability worldwide. A commonly reported disability is hemiparesis. Impairments of the upper limb inhibit the individual's ability to perform activities of daily living; High-dose repetitive practice of functional tasks is important for recovery after stroke. This type of training is labor-intensive.Additionally, many stroke patients cannot complete traditional physical therapy due to the severity of their motor impairments. Robotics offers an alternative approach whereby assistance is provided via forces applied to the limb, allowing high dose and repetitive completion of movements that would otherwise be impossible to complete unassisted. However, even with the standardized rehabilitation programs that stakeholders implemented with robotic therapy, patients demonstrate variance in response to treatment due to the heterogeneous damage to the brain during the stroke. Subsequently, three studies investigated wearable robotics for stroke upper limb rehabilitation and the neural mechanisms of upper limb control and recovery. For the first study, 12 chronic stroke patients completed 8 weeks of at-home rehabilitation using a novel exoskeleton wearable robotic hand device that assisted with the opening of the hand-this enabled performance of therapeutic functional exercises. I examined the neural response to recovery using the neuroimaging technique electroencephalography. The study identified patients with the greatest operational hand improvements had the largest increase in interhemispheric sensorimotor communication. Additionally, neural biomarkers that could predict a patient's response to robotic therapy were identified. I performed biomechanic analysis using 3d motion capture and clinical evaluations without the device pre, post, and 3 months after completion of the study, which showed the novel device restored hand function. The second study saw the development of a new wearable robotic hand device that assists users with opening and closing motions. Additionally, an integrated Android app was developed, which could be used with the automated machine. The app has therapeutic video games and exercises to complement robotic therapy. The study gives a detailed evaluation of the mechanical and control system of the automated device and the responses of persons with the stroke that used the device. To better understand the neural process of upper limb recovery, the final study explored the neural pathways involved in grip force modulation and how robotics that offers upper limb gravity compensation alters the corticospinal path and neural activation. The studies show home-based robotic devices that can induce improvements in hand function after stroke and are well received by persons with stroke. Electroencephalography can be used to track the brain's plasticity during rehabilitation, identify biomarkers that predict response to therapy, and determine the influence of gravity compensation robotic devices on the corticospinal pathway. These findings may be of relevance for optimizing the design of rehabilitation robotics and neurorehabilitation programs.
Author: Irfan Hussain
Publisher: Springer Nature
ISBN: 3030520021
Category : Technology & Engineering
Languages : en
Pages : 155
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Book Description
This book offers a timely report on an emerging topic in the field of wearable assistive technology: the design and development of robotic extra fingers. After a concise review of the state of the art and a description of earlier prototypes, it discusses the authors’ efforts to address issues such as portability and wearability of the devices, including strategies to reduce fatigue and to integrate the motion of the extra fingers with that of the human hand. The book also explores optimized control algorithms and the design of wearable sensorimotor interfaces, and presents a set of tests carried out on healthy subjects and chronic stroke patients. Merging concepts from robotics, biomechanics, human factors and control theory and offering an overview of supernumerary robotic fingers, including the challenges, this book will inspire researchers involved in the development of wearable robotic devices and interfaces based on the principles of wearability, safety, ergonomics and user comfort.
Author: Mara Montoya
Publisher:
ISBN:
Category :
Languages : en
Pages :
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The objective of this thesis is to discuss the use of rehabilitation robotics in non-specialized settings, identify technical, social, and economic bottlenecks, make predictions about technological trends developing from 2012 to 2025, and present findings and investment opportunities for private corporations, stakeholders, and governments in order to assist them in making funding decisions. Epidemiological and demographical changes like aging are leading to a growing service-robot market (rehabilitation devices are part of this domain), which will continue to grow over the next twenty years. The production of rehabilitation devices will increase with the overall market sector. Clinical trials have proven that robotics systems can be used effectively for upper-limb rehabilitation. Supporting the growth of the rehabilitation robotics industry (especially those rehabilitation robots designed for use outside of rehabilitation clinics) could be beneficial to post-stroke subjects in terms of access, intensity, and cost efficiency. The findings of this thesis show that many of the existing rehabilitation devices which help stroke victims regain upper-limb motion are ineffective in nonspecialized settings (like the patient's home) and furthermore, many promising robots have yet to be commercialized. The findings also reveal a gap between the five important stakeholder groups (patients, partners or relatives, paid carers, therapists, and health and social care budget holders) and their needs, such as trade-offs between therapists, systems, and patients. Current rehabilitation devices which are widely accepted for clinical use like the ARMin (Armeo Power of Hocoma) amongst others, are discussed in this paper. Observations and suggestions for a more user-centered design are made for currently available devices, which often fail to provide a 100% ergonomic solution. The research shows that there is a need for user-driven research, outstandi.
Author: Elaine Chen Lu
Publisher:
ISBN: 9780494768389
Category :
Languages : en
Pages :
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