The Experts below are selected from a list of 324 Experts worldwide ranked by ideXlab platform
Robert Riener - One of the best experts on this subject based on the ideXlab platform.
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BioRob - Online adaptive compensation of the ARMin Rehabilitation Robot
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016Co-Authors: Fabian Just, Robert Riener, Kilian Baur, Verena Klamroth-marganska, Georg RauterAbstract:Robot-assisted arm therapy is increasingly applied in neurorehabilitation. The reason for this development over the last decades was that robots relieve the therapist from hard physical work while the training intensity can be increased. Importantly, an increase in training intensity is closely linked to functional improvements of the patient. However, usability of the robot for therapists was hardly considered an important factor in rehabilitation robot development so far. We believe that usability of the robot is a key factor for acceptance of the device by therapists. In this paper, an online adaptive compensation for the ARMin rehabilitation robot is presented, which aims at improving usability of the robot. Therefore, we expect ARMin therapy to become even more effective than conventional therapy at a level that is also relevant for the patient. Additionally, improved usability relieves the therapist from unnecessary/time-consuming tasks linked to robot handling. For the ARMin, the new online adaptive compensation takes over automatic updates of changed upper and lower arm lengths as well as adaptation of shoulder angle settings to fit the patient's anthropometry. Simultaneously, the model-based compensation in ARMin is directly updated to account for hardware changes. Importantly, the online adaptive compensation provides improved performance of ARMin even at the borders of the workspace. In experiments, we could show that the adaptive online compensation relieves the force and position controller from additional burdens and increases the robot performance drastically especially at the workspace border.
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Strength and Motor Function after Arm Training with an Exoskeleton Robot
Biosystems & Biorobotics, 2014Co-Authors: Verena Klamroth-marganska, Georg Rauter, Robert RienerAbstract:Strength training of the arm after stroke can have a beneficial effect not only on strength but also on activity. We aimed to explore whether arm motor function, achieved with robot-assisted training with the arm therapy robot ARMin, correlated to strength. We measured isometric strength in arm movements involving six joints with the therapy robot ARMin. In addition, we assessed grip strength with a hand held dynamometer. Furthermore, we compared the strength gains under therapy between robot-assisted training and conventional, occupational or physical therapy. We could show that patients with ARMin therapy gain less strength than patients in the control group although they improve in motor function. Furthermore, conventional therapy shows higher association between motor function and strength.
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Transferring ARMin to the Clinics and Industry
Topics in Spinal Cord Injury Rehabilitation, 2011Co-Authors: Robert Riener, Marco Guidali, Urs Keller, Alexander Duschau-wicke, Verena Klamroth, Tobias NefAbstract:In the last few years, novel robotic technology has been developed that has the potential to improve upper extremity function after spinal cord injury (SCI), stroke, and other neurological diseases. Three generations of the arm therapy robot ARMin were developed and clinically evaluated on many patients. Key focus was on the training of functional tasks incorporating activities of daily living (ADL) with large range of motion of the entire arm in order to enhance transfer to daily life and improve quality of life. Encouraged by the promising results in first single-case studies performed with ARMin I and ARMin II, an optimized ARMin III was developed and duplicated and is currently being used within a 4-center randomized clinical trial. A fourth generation of ARMin is currently under development that will have further functional benefits with respect to patient-cooperative control and therapy assessment. Intellectual property has been identified for technology transfer and commercial exploitation. The con...
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armin ii 7 dof rehabilitation robot mechanics and kinematics
International Conference on Robotics and Automation, 2007Co-Authors: Matjaz Mihelj, Tobias Nef, Robert RienerAbstract:Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin II is the second prototype of a robot for arm therapy applicable to the training of activities of daily living. ARMin II has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin II.
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ARMin - Exoskeleton for arm therapy in stroke patients
2007 IEEE 10th International Conference on Rehabilitation Robotics ICORR'07, 2007Co-Authors: Tobias Nef, Gabriela Kiefer, Christina Perndl, Matjaz Mihelj, Roland Muller, Robert RienerAbstract:Task-oriented repetitive movement can improve movement performance in patients with neurological lesions. The application of robotics can serve to assist, enhance, evaluate and document rehabilitation of movements. ARMin is a robot for arm therapy applicable to the arm training in clinics. It has an exoskeleton structure and is equipped with position and force sensors. Our latest version ARMin II has six degrees of freedom. The mechanical structure, the actuators, and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. The device can work in three therapy modes: passive mobilization, game therapy, and task-oriented training. This paper presents the technical components of the new version ARMin II, the therapy modes, the control strategy for a new example of a game therapy, and clinical results of a pilot study with 11 chronic stroke patients and of single case studies conducted with three chronic stroke patients.
Matjaz Mihelj - One of the best experts on this subject based on the ideXlab platform.
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armin ii 7 dof rehabilitation robot mechanics and kinematics
International Conference on Robotics and Automation, 2007Co-Authors: Matjaz Mihelj, Tobias Nef, Robert RienerAbstract:Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin II is the second prototype of a robot for arm therapy applicable to the training of activities of daily living. ARMin II has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin II.
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ARMin - Exoskeleton for arm therapy in stroke patients
2007 IEEE 10th International Conference on Rehabilitation Robotics ICORR'07, 2007Co-Authors: Tobias Nef, Gabriela Kiefer, Christina Perndl, Matjaz Mihelj, Roland Muller, Robert RienerAbstract:Task-oriented repetitive movement can improve movement performance in patients with neurological lesions. The application of robotics can serve to assist, enhance, evaluate and document rehabilitation of movements. ARMin is a robot for arm therapy applicable to the arm training in clinics. It has an exoskeleton structure and is equipped with position and force sensors. Our latest version ARMin II has six degrees of freedom. The mechanical structure, the actuators, and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. The device can work in three therapy modes: passive mobilization, game therapy, and task-oriented training. This paper presents the technical components of the new version ARMin II, the therapy modes, the control strategy for a new example of a game therapy, and clinical results of a pilot study with 11 chronic stroke patients and of single case studies conducted with three chronic stroke patients.
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ICRA - ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007Co-Authors: Matjaz Mihelj, Tobias Nef, Robert RienerAbstract:Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin II is the second prototype of a robot for arm therapy applicable to the training of activities of daily living. ARMin II has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin II.
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ARMin II â 7 DoF rehabilitation robot; 2007 IEEE International Conference on Robotics and Automation (ICRA 2007); ; 2007 IEEE International Conference on Robotics and Automation : Roma, Italy, 10 - 14 April 2007; conference proceedings; ICRA 07
2007Co-Authors: Matjaz Mihelj, Tobias Nef, Robert RienerAbstract:Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin II is the second prototype of a robot for arm therapy applicable to the training of activities of daily living. ARMin II has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin II.
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armin ii â 7 dof rehabilitation robot 2007 ieee international conference on robotics and automation icra 2007 2007 ieee international conference on robotics and automation roma italy 10 14 april 2007 conference proceedings icra 07
International Conference on Robotics and Automation, 2007Co-Authors: Matjaz Mihelj, Tobias Nef, Robert RienerAbstract:Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin II is the second prototype of a robot for arm therapy applicable to the training of activities of daily living. ARMin II has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin II.
Tobias Nef - One of the best experts on this subject based on the ideXlab platform.
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Transferring ARMin to the Clinics and Industry
Topics in Spinal Cord Injury Rehabilitation, 2011Co-Authors: Robert Riener, Marco Guidali, Urs Keller, Alexander Duschau-wicke, Verena Klamroth, Tobias NefAbstract:In the last few years, novel robotic technology has been developed that has the potential to improve upper extremity function after spinal cord injury (SCI), stroke, and other neurological diseases. Three generations of the arm therapy robot ARMin were developed and clinically evaluated on many patients. Key focus was on the training of functional tasks incorporating activities of daily living (ADL) with large range of motion of the entire arm in order to enhance transfer to daily life and improve quality of life. Encouraged by the promising results in first single-case studies performed with ARMin I and ARMin II, an optimized ARMin III was developed and duplicated and is currently being used within a 4-center randomized clinical trial. A fourth generation of ARMin is currently under development that will have further functional benefits with respect to patient-cooperative control and therapy assessment. Intellectual property has been identified for technology transfer and commercial exploitation. The con...
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armin ii 7 dof rehabilitation robot mechanics and kinematics
International Conference on Robotics and Automation, 2007Co-Authors: Matjaz Mihelj, Tobias Nef, Robert RienerAbstract:Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin II is the second prototype of a robot for arm therapy applicable to the training of activities of daily living. ARMin II has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin II.
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ARMin - Exoskeleton for arm therapy in stroke patients
2007 IEEE 10th International Conference on Rehabilitation Robotics ICORR'07, 2007Co-Authors: Tobias Nef, Gabriela Kiefer, Christina Perndl, Matjaz Mihelj, Roland Muller, Robert RienerAbstract:Task-oriented repetitive movement can improve movement performance in patients with neurological lesions. The application of robotics can serve to assist, enhance, evaluate and document rehabilitation of movements. ARMin is a robot for arm therapy applicable to the arm training in clinics. It has an exoskeleton structure and is equipped with position and force sensors. Our latest version ARMin II has six degrees of freedom. The mechanical structure, the actuators, and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. The device can work in three therapy modes: passive mobilization, game therapy, and task-oriented training. This paper presents the technical components of the new version ARMin II, the therapy modes, the control strategy for a new example of a game therapy, and clinical results of a pilot study with 11 chronic stroke patients and of single case studies conducted with three chronic stroke patients.
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ICRA - ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007Co-Authors: Matjaz Mihelj, Tobias Nef, Robert RienerAbstract:Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin II is the second prototype of a robot for arm therapy applicable to the training of activities of daily living. ARMin II has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin II.
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ARMin II â 7 DoF rehabilitation robot; 2007 IEEE International Conference on Robotics and Automation (ICRA 2007); ; 2007 IEEE International Conference on Robotics and Automation : Roma, Italy, 10 - 14 April 2007; conference proceedings; ICRA 07
2007Co-Authors: Matjaz Mihelj, Tobias Nef, Robert RienerAbstract:Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin II is the second prototype of a robot for arm therapy applicable to the training of activities of daily living. ARMin II has a semi-exoskeletal structure with seven active degrees of freedom (two of them coupled), five adjustable segments to fit in with different patient sizes, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure and kinematics of ARMin II.
Ching-lueh Chang - One of the best experts on this subject based on the ideXlab platform.
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ICS - A note on metric 1-median selection
Communications in Computer and Information Science, 2019Co-Authors: Ching-lueh ChangAbstract:Metric 1-median asks for \({\mathrm {Argmin}}_{p=1}^n\, \sum _{q=1}^n\,d(p,q)\), breaking ties arbitrarily, given a metric space \((\{1,2,\ldots ,n\},d)\). Let A be any deterministic algorithm for metric 1-median making each point in \(\{1,2,\ldots ,n\}\) involve in only O(1) queries to d. We show A to not be \(o(\log n)\)-approximate.
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Deterministic sublinear-time approximations for metric 1-median selection
Information Processing Letters, 2013Co-Authors: Ching-lueh ChangAbstract:Given oracle access to an n-point metric space (M,d), let metric 1-median be the problem of finding Argmin"x"@?"[email protected]?"y"@?"Md(x,y), breaking ties arbitrarily. We show that metric 1-median has a deterministic nonadaptive O(n^3^/^2)-time 4-approximation algorithm.
Leonid V. Rosenshtraukh - One of the best experts on this subject based on the ideXlab platform.
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Mechanisms of cardiac muscle insensitivity to a novel acetylcholinesterase inhibitor C-547.
Journal of Cardiovascular Pharmacology, 2009Co-Authors: Denis V. Abramochkin, Konstantin A. Petrov, Vladimir V. Zobov, Lilia O Yagodina, Eugen E. Nikolsky, Leonid V. RosenshtraukhAbstract:Abstract:We compared the effects of the novel acetylcholinesterase (AChE) inhibitor C-547 on action potential configuration and sinus rhythm in the isolated right atrium preparation of rat with those of armin and neostigmine. Both armin (10−7, 10−6, and 10−5 M) and neostigmine (10−7, 10−6, and 5 × 1