Applied Bionics and Biomechanics - Volume 8, issue 1

Authors: Amirabdollahian, Farshid | Johnson, Garth

Article Type: Research Article

Abstract: Haptic and robotic technologies have the potential to provide assessment during interaction with humans. This manuscript presents our earlier research during the I-Match project where a haptic peg-in-hole test was used in order to compare between healthy volunteers' performance and those with neurological impairment. Subjects all performed a series of haptic virtual peg-in-hole tasks with varying degrees of difficulty determined by the hole diameter. Haptic instrument, Phantom Desktop 1.5, allowed for recording of biomechanical data which is used to present some variant features between the two subject groups. This paper analyses the placement time, maximum peg transfer velocity, collision forces …recorded during peg placement and also insertion accuracy. The first three parameters showed statistically significant differences between the two groups while the last, insertion accuracy, showed insignificant differences (p = 0.152). This is thought to be due to the large clearance value between the smallest hole diameter and the peg. To identify differences between the haptic peg-in-hole and the established NHPT, we are currently in process of conducting a further experiment with a haptic replica of the NHPT test, in order to investigate effects resulting from addition of haptic force feedback compared to the original NHPT test, as well as allowing to explore influences caused by the 1 mm clearance value as originally proposed by Wade.Furthermore, in order to investigate if this method can identify differences between subjects with different neurological conditions, a larger group of subjects with neurological conditions such as stroke, multiple sclerosis, and traumatic brain injury is required to explore potency of this approach for identifying differences between these different conditions. Show more

Keywords: Haptics, peg-in-hole, i-match, robotic for assessment, outcome measures

DOI: 10.3233/ABB-2011-0017

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 1-11, 2011

Authors: Tsagarakis, N.G. | Caldwell, D.G.

Article Type: Research Article

Abstract: Physical movement impairments caused by central nervous system dysfunction or by muscle spasms generated from other neurological damage or dysfunction can often make it difficult or impossible for affected individuals to interact with computer generated environments using the conventional mouse interfaces. This work investigates the use of a 2 dimensional haptic device as an assistive robotic aid to minimize the effects of the pathological absence of motor control on the upper limb in impaired users while using a mouse interface. The haptic system used in this research is a two degree of freedom (DOF) Pantograph planar device. To detect the …intended user motion, the device is equipped with force sensing allowing the monitoring of the user applied loads. Impedance based techniques are used to develop a “clumsy” motion suppression control system. The erratic motion suppression techniques and the experimental system setup are evaluated in two dimensional tracking tasks using a human subject with failure of the gross coordination of the upper limb muscle movements resulting from a disorder called ‘Muscle Ataxia’. The results presented demonstrate the ability of the system to improve the tracking performance of the impaired user while interacting with a simple computer generated 2D space. Show more

Keywords: Assistive, haptic, computer, interface

DOI: 10.3233/ABB-2011-0013

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 13-20, 2011

Authors: Smith, Alan | Brown, Edward E.

Article Type: Research Article

Abstract: This work examines two different types of myoelectric control schemes for the purpose of rehabilitation robot applications. The first is a commonly used technique based on a Gaussian classifier. It is implemented in real time for healthy subjects in addition to a subject with Central Cord Syndrome (CCS). The myoelectric control scheme is used to control three degrees of freedom (DOF) on a robot manipulator which corresponded to the robot's elbow joint, wrist joint, and gripper. The classes of motion controlled include elbow flexion and extension, wrist pronation and supination, hand grasping and releasing, and rest. Healthy subjects were able …to achieve 90% accuracy. Single DOF controllers were first tested on the subject with CCS and he achieved 100%, 96%, and 85% accuracy for the elbow, gripper, and wrist controllers respectively. Secondly, he was able to control the three DOF controller at 68% accuracy. The potential applications for this scheme are rehabilitation and teleoperation. To overcome limitations in the pattern recognition based scheme, a second myoelectric control scheme is also presented which is trained using electromyographic (EMG) data derived from natural reaching motions in the sagittal plane. This second scheme is based on a time delayed neural network (TDNN) which has the ability to control multiple DOF at once. The controller tracked a subject's elbow and shoulder joints in the sagittal plane. Results showed an average error of 19° for the two joints. This myoelectric control scheme has the potential of being used in the development of exoskeleton and orthotic rehabilitation applications. Show more

Keywords: Electromyography, myoelectric control, rehabilitation robotics, assistive technologies

DOI: 10.3233/ABB-2011-0014

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 21-37, 2011

Authors: Mazzoleni, S. | Posteraro, F. | Filippi, M. | Forte, F. | Micera, S. | Dario, P. | Carrozza, M.C.

Article Type: Research Article

Abstract: The main goal of this paper is to describe a method for the assessment of the motor performance in post-stroke subjects who have been undergone a robot-aided upper limb rehabilitation treatment. The motivation for adopting such methodology relies on the need of quantitative methods for the evaluation of the effects of robot-aided rehabilitation treatments, which assumes great importance from the clinical point of view. The method is based on the analysis of biomechanical parameters computed from force data recorded during the execution of planar reaching movements. Data from 17 chronic post-stroke patients and 5 healthy subjects were analysed. The results …show the effectiveness of the proposed method, which can contribute to quantitatively evaluate the effects of a robot-mediated therapy on the upper limb of chronic post-stroke subjects. Show more

Keywords: Rehabilitation, robotics, post-stroke, upper limb, assessment

DOI: 10.3233/ABB-2011-0019

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 39-54, 2011

Authors: Riman, Chadi Fouad | Peralta, Hector | Monacelli, Eric | Alayli, Yasser | El Hajj, Ali | Mougharbel, Imad

Article Type: Research Article

Abstract: In this work, an evaluation and assistance platform for people with disabilities is presented. This platform allows the control of different systems (PC games, robot, electric wheelchair) using different interfaces (mouse, joystick, etc.). The software facilitates the saving of experimental data for analysis, it can be automatically reconfigured to match user's ability, and it is operated locally or remotely through the internet. Quantitative indicators are defined for evaluation purposes and to determine the needed assistance and adaptation. The system is tested and results are presented and discussed.

DOI: 10.3233/ABB-2011-0016

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 55-66, 2011

Authors: Cotton, S. | Vanoncini, M. | Fraisse, P. | Ramdani, N. | Demircan, E. | Murray, A.P. | Keller, T.

Article Type: Research Article

Abstract: The estimation of the centre of mass position in humans is usually based on biomechanical models developed from anthropometric tables. This method can potentially introduce errors in studies involving elderly people, since the ageing process is typically associated with a modification of the distribution of the body mass. In this paper, an alternative technique is proposed, and evaluated with an experimental study on 9 elderly volunteers. The technique is based on a virtual chain, identified from experimental data and locating the subject's centre of mass. Its configuration defines the location of the centre of mass, and is a function of …the anatomical joint angles measured on the subject. This method is a valuable investigation tool in the field of geronto-technology, since it overcomes some of the problems encountered with other CoM estimation methods. Show more

Keywords: Centre of mass, estimation, human, motion capture, force plate, elderly

DOI: 10.3233/ABB-2011-0006

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 67-84, 2011

Authors: Ibrahim, B.S.K.K. | Tokhi, M.O. | Huq, M.S. | Jailani, R. | Gharooni, S.C.

Article Type: Research Article

Abstract: Modelling of joint properties of lower limbs in people with spinal cord injury is significantly challenging for researchers due to the complexity of the system. The objective of this study is to develop a knee joint model capable of relating electrical parameters to dynamic joint torque as well as knee angle for functional electrical stimulation application. The joint model consists of a segmental dynamic, time-invariant passive properties and uncertain time-variant active properties. The knee joint model structure comprising optimised equations of motion and fuzzy models to represent the passive viscoelasticity and active muscle properties is formulated. The model thus formulated …is optimised using genetic optimization, and validated against experimental data. The developed model can be used for simulation of joint movements as well as for control development. The results show that the model developed gives an accurate dynamic characterisation of the knee joint. Show more

Keywords: Knee joint model, viscoelasticity, functional electrical stimulation, fuzzy model, genetic algorithm

DOI: 10.3233/ABB-2011-0007

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 85-99, 2011

Authors: Syrseloudis, Christos E. | Emiris, Ioannis Z. | Lilas, Theodore | Maglara, Artemis

Article Type: Research Article

Abstract: The aim of this work is to propose a new 2-DOF robotic platform with hybrid parallel-serial structure and to undertake its parametric design so that it can follow the whole range of ankle related foot movements. This robot can serve as a human ankle rehabilitation device. The existing ankle rehabilitation devices present typically one or more of the following shortcomings: redundancy, large size, or high cost, hence the need for a device that could offer simplicity, modularity, and low cost of construction and maintenance. In addition, our targeted device must be safe during operation, disallow undesirable movements of the foot, …while adaptable to any human foot. Our detailed study of foot kinematics has led us to a new hybrid architecture, which strikes a balance among all aforementioned goals. It consists of a passive serial kinematics chain with two adjustable screws so that the axes of the chain match the two main ankle-axes of typical feet. An active parallel chain, which consists of two prismatic actuators, provides the movement of the platform. Thus, the platform can follow the foot movements, thanks to the passive chain, and also possesses the advantages of parallel robots, including rigidity, high stiffness and force capabilities. The lack of redundancy yields a simpler device with lower size and cost. The paper describes the kinematics modelling of the platform and analyses the force and velocity transmission. The parametric design of the platform is carried out; our simulations confirm the platform's suitability for ankle rehabilitation. Show more

Keywords: Ankle rehabilitation, serial robot, parallel robot, design, kinematics, simulation

DOI: 10.3233/ABB-2011-010

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 101-114, 2011

Authors: Jailani, R. | Tokhi, M.O. | Gharooni, S.C. | Ibrahim, B.S.K.K.

Article Type: Research Article

Abstract: This paper presents a simulation of bipedal locomotion to generate stimulation pulses for activating muscles for paraplegic walking with wheel walker using functional electrical stimulation (FES) with spring brake orthosis (SBO). A new methodology for paraplegic gait, based on exploiting natural dynamics of human gait, is introduced. The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion and more-natural like trajectory produced by the flexion reflex for gait in spinal cord injured …subjects. SBO can eliminate reliance on the withdrawal reflex and foot-ground clearance without extra upper body effort. The stored energy in the spring of SBO is used to replace stimulation pulses in knee flexion and reduce total required torque for the paraplegic walking with wheel walker. The study is carried out with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. Stimulated muscle model of quadriceps is developed for knee extension. Fuzzy logic control (FLC) is developed in Matlab/Simulink to regulate the muscle stimulation pulse-width required to drive FES-assisted walking gait and the computed motion is visualised in graphic animation from Vn4D. The simulation results show that SBO can be successfully used with FES for paraplegic walking with wheel walker with all the advantages discussed over the current hybrid orthoses available. Show more

Keywords: Spring brake orthosis, paraplegic, fuzzy logic control, FES-assisted walking

DOI: 10.3233/ABB-2011-0001

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 115-126, 2011

Authors: Tsui, Katherine M. | Kim, Dae-Jin | Behal, Aman | Kontak, David | Yanco, Holly A.

Article Type: Research Article

Abstract: Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy to reduce the cognitive load. Instead of manual task decomposition and execution, the user explicitly designates the end goal, and the system autonomously retrieves the object. In this paper, we present the complete system which can autonomously retrieve a desired object from a shelf. We also present the results of a 15-week study in which 12 participants …from our target population used our system, totaling 198 trials. Show more

Keywords: Human-robot interaction, visual servoing

DOI: 10.3233/ABB-2011-0004

Citation: Applied Bionics and Biomechanics, vol. 8, no. 1, pp. 127-147, 2011