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Hermano Igo Krebs - One of the best experts on this subject based on the ideXlab platform.
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An Electrorheological Fluid Actuator for Rehabilitation Robotics
IEEE ASME Transactions on Mechatronics, 2018Co-Authors: Joseph R. Davidson, Hermano Igo KrebsAbstract:Transitioning Rehabilitation robots from the clinic environment to the home could significantly increase the intensity and accessibility of therapy to stroke survivors. Home-based Rehabilitation robots must become smaller and cheaper. In this paper, we consider a novel proof-of-concept actuator for human–machine interaction. The actuator incorporates a prototype electrorheological fluid developed to address issues previously reported in the literature. Two electrorheological fluid clutches are antagonistically arranged in a differential mechanism. The fluid clutches uncouple the output from the intrinsically high impedance of a geared dc motor. Mathematical modeling of predicted torque was compared with torque measurements. The clutches can transfer approximately 1.1 N·m at an electric field strength of 3 kV/mm. A testbed was also developed to study variable impedance control with the device where motion feedback was used to modulate the output impedance. An empirically derived model was used to program voltages/torques in response to perturbations in position. A benefit of the proposed design is the ability to statically coactivate both clutches to increase output impedance, which could potentially have benefits for training. We also discuss the advantages and disadvantages of electrorheological fluid actuators for human Rehabilitation Robotics.
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knowledge discovery Rehabilitation Robotics and serious games examining training data
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2014Co-Authors: Caio B Moretti, Hermano Igo Krebs, Glauco Augusto De Paula Caurin, Ricardo C Joaquim, Jose Batista Dal Farra MartinsAbstract:In this paper, we present an initial attempt to apply Knowledge Discovery techniques over real performance data from patients enrolled in robotic therapy in order to explore how to better optimize therapy. Performance data sets encompass measurements such as position, velocity and force, as well as final performance measures. We apply the Principal Component Analysis method in an attempt to reduce the dimensionality of the problem, molding subsets that were the input into a Multilayer Perceptron Artificial Neural Network which would carry out data mining with the purpose of discovering the relative significance of each field, in relation to a performance measure. It was possible to notice the impact caused by the lack of each field in terms of specific performance measures, indicating which data are more relevant to use in further experiments.
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Rehabilitation Robotics an academic engineer perspective
International Conference of the IEEE Engineering in Medicine and Biology Society, 2011Co-Authors: Hermano Igo KrebsAbstract:In this paper, we present a retrospective review of our efforts to revolutionize the way physical medicine is practiced by developing and deploying Rehabilitation robots. We present a sample of our clinical results with well over 600 stroke patients, both inpatients and outpatients. We discuss the different robots developed at our laboratory over the past 20 years and their unique characteristics. All are configured both to deliver reproducible interactive therapy and also to measure outcomes with minimal encumbrance, thus providing critical measurement tools to help unravel the key remaining question: what constitutes “best practice”? While success to date indicates that this therapeutic application of robots has opened an emerging new frontier in physical medicine and Rehabilitation, the barrier to further progress lies not in developing new hardware but rather in finding the most effective way to enhance neuro-recovery. We close this manuscript discussing some of the tools required for advancing the effort beyond the present state to what we believe will be the central feature of research during the next 10 years.
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A working model of stroke recovery from Rehabilitation Robotics practitioners
Journal of NeuroEngineering and Rehabilitation, 2009Co-Authors: Hermano Igo Krebs, Bruce Volpe, Neville HoganAbstract:We reviewed some of our initial insights about the process of upper-limb behavioral recovery following stroke. Evidence to date indicates that intensity, task specificity, active engagement, and focusing training on motor coordination are key factors enabling efficacious recovery. On modeling, experience with over 400 stroke patients has suggested a working model of recovery similar to implicit motor learning. Ultimately, we plan to apply these insights in the development of customized training paradigms to enhance recovery.
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a paradigm shift for Rehabilitation Robotics
IEEE Engineering in Medicine and Biology Magazine, 2008Co-Authors: Hermano Igo Krebs, Laura Dipietro, Shelly Levytzedek, Susan E Fasoli, A Rykmanberland, Johanna Zipse, J Fawcett, Joel Stein, Howard Poizner, B.t. VolpeAbstract:Therapeutic robots enhance clinician productivity in facilitating patient recovery. In this article, we presented an overview of the remarkable growth in the activities in the area of therapeutic Robotics and of experiences with our devices. We briefly review the published clinical literature in this emerging field and our initial clinical results in stroke. However, we also report our initial efforts that go beyond stroke, broadening the potential population that might benefit from this class of technology by discussing case studies of applications to other neurological diseases. We will also highlight the underexploited potential of this technology as an evaluation tool.
B.t. Volpe - One of the best experts on this subject based on the ideXlab platform.
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Chapter 23 - Rehabilitation Robotics
Handbook of clinical neurology, 2013Co-Authors: H.i. Krebs, B.t. VolpeAbstract:This chapter focuses on Rehabilitation Robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in Rehabilitation Robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and Rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting Rehabilitation of an individual so that s/he can interact with the environment unassisted (Rehabilitation Robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing Rehabilitation Robotics instead of usual care. These include the landmark VA-Robotics multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost.
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a paradigm shift for Rehabilitation Robotics
IEEE Engineering in Medicine and Biology Magazine, 2008Co-Authors: Hermano Igo Krebs, Laura Dipietro, Shelly Levytzedek, Susan E Fasoli, A Rykmanberland, Johanna Zipse, J Fawcett, Joel Stein, Howard Poizner, B.t. VolpeAbstract:Therapeutic robots enhance clinician productivity in facilitating patient recovery. In this article, we presented an overview of the remarkable growth in the activities in the area of therapeutic Robotics and of experiences with our devices. We briefly review the published clinical literature in this emerging field and our initial clinical results in stroke. However, we also report our initial efforts that go beyond stroke, broadening the potential population that might benefit from this class of technology by discussing case studies of applications to other neurological diseases. We will also highlight the underexploited potential of this technology as an evaluation tool.
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Rehabilitation Robotics: pilot trial of a spatial extension for MIT-Manus
Journal of NeuroEngineering and Rehabilitation, 2004Co-Authors: Hermano I Krebs, B.t. Volpe, Mark Ferraro, Stephen P Buerger, Miranda J Newbery, Antonio Makiyama, Michael Sandmann, Daniel Lynch, Neville HoganAbstract:Background Previous results with the planar robot MIT-MANUS demonstrated positive benefits in trials with over 250 stroke patients. Consistent with motor learning, the positive effects did not generalize to other muscle groups or limb segments. Therefore we are designing a new class of robots to exercise other muscle groups or limb segments. This paper presents basic engineering aspects of a novel robotic module that extends our approach to anti-gravity movements out of the horizontal plane and a pilot study with 10 outpatients. Patients were trained during the initial six-weeks with the planar module (i.e., performance-based training limited to horizontal movements with gravity compensation). This training was followed by six-weeks of robotic therapy that focused on performing vertical arm movements against gravity. The 12-week protocol includes three one-hour robot therapy sessions per week (total 36 robot treatment sessions). Results Pilot study demonstrated that the protocol was safe and well tolerated with no patient presenting any adverse effect. Consistent with our past experience with persons with chronic strokes, there was a statistically significant reduction in tone measurement from admission to discharge of performance-based planar robot therapy and we have not observed increases in muscle tone or spasticity during the anti-gravity training protocol. Pilot results showed also a reduction in shoulder-elbow impairment following planar horizontal training. Furthermore, it suggested an additional reduction in shoulder-elbow impairment following the anti-gravity training. Conclusion Our clinical experiments have focused on a fundamental question of whether task specific robotic training influences brain recovery. To date several studies demonstrate that in mature and damaged nervous systems, nurture indeed has an effect on nature. The improved recovery is most pronounced in the trained limb segments. We have now embarked on experiments that test whether we can continue to influence recovery, long after the acute insult, with a novel class of spatial robotic devices. This pilot results support the pursuit of further clinical trials to test efficacy and the pursuit of optimal therapy following brain injury.
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Rehabilitation Robotics pilot trial of a spatial extension for mit manus
Journal of Neuroengineering and Rehabilitation, 2004Co-Authors: Hermano Igo Krebs, Mark Ferraro, Stephen P Buerger, Miranda J Newbery, Antonio Makiyama, Michael Sandmann, Daniel V Lynch, B.t. VolpeAbstract:Background Previous results with the planar robot MIT-MANUS demonstrated positive benefits in trials with over 250 stroke patients. Consistent with motor learning, the positive effects did not generalize to other muscle groups or limb segments. Therefore we are designing a new class of robots to exercise other muscle groups or limb segments. This paper presents basic engineering aspects of a novel robotic module that extends our approach to anti-gravity movements out of the horizontal plane and a pilot study with 10 outpatients. Patients were trained during the initial six-weeks with the planar module (i.e., performance-based training limited to horizontal movements with gravity compensation). This training was followed by six-weeks of robotic therapy that focused on performing vertical arm movements against gravity. The 12-week protocol includes three one-hour robot therapy sessions per week (total 36 robot treatment sessions).
Javier Sanchezlacuesta - One of the best experts on this subject based on the ideXlab platform.
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Rehabilitation Robotics a wearable exo skeleton for tremor assessment and suppression
International Conference on Robotics and Automation, 2005Co-Authors: Eduardo Rocon, Jose L Pons, A F Ruiz, J M Beldalois, Javier SanchezlacuestaAbstract:There is a need for wearable powered upper limb exoskeletons able to apply forces to the upper limb for use by people with disabilities and/or limb weakness or injury. The robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression) presented in this paper will provide a means of testing non-grounded control strategies in order to help these people. For instance, biomechanical loading, in particular, viscous loading of the upper limb has been proposed in the literature as a means for suppressing pathologic tremor. This article describes in detail the general concept for WOTAS, outlining the special features of the design and selection of system components.
Neville Hogan - One of the best experts on this subject based on the ideXlab platform.
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A working model of stroke recovery from Rehabilitation Robotics practitioners
Journal of NeuroEngineering and Rehabilitation, 2009Co-Authors: Hermano Igo Krebs, Bruce Volpe, Neville HoganAbstract:We reviewed some of our initial insights about the process of upper-limb behavioral recovery following stroke. Evidence to date indicates that intensity, task specificity, active engagement, and focusing training on motor coordination are key factors enabling efficacious recovery. On modeling, experience with over 400 stroke patients has suggested a working model of recovery similar to implicit motor learning. Ultimately, we plan to apply these insights in the development of customized training paradigms to enhance recovery.
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Rehabilitation Robotics: pilot trial of a spatial extension for MIT-Manus
Journal of NeuroEngineering and Rehabilitation, 2004Co-Authors: Hermano I Krebs, B.t. Volpe, Mark Ferraro, Stephen P Buerger, Miranda J Newbery, Antonio Makiyama, Michael Sandmann, Daniel Lynch, Neville HoganAbstract:Background Previous results with the planar robot MIT-MANUS demonstrated positive benefits in trials with over 250 stroke patients. Consistent with motor learning, the positive effects did not generalize to other muscle groups or limb segments. Therefore we are designing a new class of robots to exercise other muscle groups or limb segments. This paper presents basic engineering aspects of a novel robotic module that extends our approach to anti-gravity movements out of the horizontal plane and a pilot study with 10 outpatients. Patients were trained during the initial six-weeks with the planar module (i.e., performance-based training limited to horizontal movements with gravity compensation). This training was followed by six-weeks of robotic therapy that focused on performing vertical arm movements against gravity. The 12-week protocol includes three one-hour robot therapy sessions per week (total 36 robot treatment sessions). Results Pilot study demonstrated that the protocol was safe and well tolerated with no patient presenting any adverse effect. Consistent with our past experience with persons with chronic strokes, there was a statistically significant reduction in tone measurement from admission to discharge of performance-based planar robot therapy and we have not observed increases in muscle tone or spasticity during the anti-gravity training protocol. Pilot results showed also a reduction in shoulder-elbow impairment following planar horizontal training. Furthermore, it suggested an additional reduction in shoulder-elbow impairment following the anti-gravity training. Conclusion Our clinical experiments have focused on a fundamental question of whether task specific robotic training influences brain recovery. To date several studies demonstrate that in mature and damaged nervous systems, nurture indeed has an effect on nature. The improved recovery is most pronounced in the trained limb segments. We have now embarked on experiments that test whether we can continue to influence recovery, long after the acute insult, with a novel class of spatial robotic devices. This pilot results support the pursuit of further clinical trials to test efficacy and the pursuit of optimal therapy following brain injury.
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Rehabilitation Robotics adapting robot behavior to suit patient needs and abilities
American Control Conference, 2004Co-Authors: Stephen P Buerger, Hermano Igo Krebs, J.j. Palazzolo, Neville HoganAbstract:Robotics offers one solution to the rising problem of rehabilitating victims of neurological injury and disease. Rehabilitation robots have proven successful in speeding recovery for recent stroke victims, and in reducing impairment and pain for chronic victims who were thought to have little opportunity for improvement. Such robots require high force capability with a closely controlled "feel", requiring low endpoint impedance. For complex robot configurations, a combination of backdrivable hardware design and impedance-reducing controller design may offer the best solution. A novel therapy algorithm that exploits similarities between motor recovery and motor learning adapts robot impedance to patients as they recover. Results of therapy using this algorithm are a substantial improvement over the original robot therapy.
Eduardo Rocon - One of the best experts on this subject based on the ideXlab platform.
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exoskeletons in Rehabilitation Robotics tremor suppression
2011Co-Authors: Eduardo Rocon, Jose L PonsAbstract:Introduction. Exoskeletons in Rehabilitation Robotics.- Pathological Tremor Management.- Upper limb exoskeleton for tremor suppression. Cognitive HR interaction.- Upper limb exoskeleton for tremor suppression. Physical HR interaction.- Upper limb exoskeleton for tremor suppression. Validation.- Summary, conclusions and upcoming research.
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upper limb exoskeleton for tremor suppression physical hr interaction
2011Co-Authors: Eduardo Rocon, Jose L PonsAbstract:The scientific and medical community is becoming more and more interested in the so-called Rehabilitation Robotics. Rehabilitation Robotics has been envisioned as technology for the restoration and functional compensation of people suffering from physical disability or disorders, either for the Rehabilitation therapy or assistance of people.
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application of inertial sensors in Rehabilitation Robotics
IEEE International Conference on Rehabilitation Robotics, 2007Co-Authors: Eduardo Rocon, Juan Moreno, A F Ruiz, F Brunetti, J A Miranda, Jose L PonsAbstract:Microelectromechanical systems (MEMS) are revolutionizing a multitude of industries world wide, from consumer products to the scientific community. Rehabilitation Robotics is a robotic field specially interested in using the advantages of inertial sensors. The essential aspect in this area is the intrinsic interaction between human and robot, which imposes several restrictions in the design of this sort of robots. This paper addresses the analysis of the application of inertial sensors as sensing technologies in controlled orthotic devices with a detailed analysis with two biomechatronic Robotics Rehabilitation exoskeletons, one for the upper and other for the lower limb. Eventually, the results and conclusion of the experiments are given.
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Rehabilitation Robotics a wearable exo skeleton for tremor assessment and suppression
International Conference on Robotics and Automation, 2005Co-Authors: Eduardo Rocon, Jose L Pons, A F Ruiz, J M Beldalois, Javier SanchezlacuestaAbstract:There is a need for wearable powered upper limb exoskeletons able to apply forces to the upper limb for use by people with disabilities and/or limb weakness or injury. The robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression) presented in this paper will provide a means of testing non-grounded control strategies in order to help these people. For instance, biomechanical loading, in particular, viscous loading of the upper limb has been proposed in the literature as a means for suppressing pathologic tremor. This article describes in detail the general concept for WOTAS, outlining the special features of the design and selection of system components.