subject:(rehabilitation robotics)

Georgia Tech

1. English, Brittney Ann. A physical therapy system for encouraging specific motion in wrist rehabilitation exercises.

Degree: PhD, Electrical and Computer Engineering, 2018, Georgia Tech

URL: http://hdl.handle.net/1853/62181

► The objective this research is to design a passive therapy device with rehabilitation gaming suite that employs an adaptive algorithm that alters game play in… (more)

Subjects/Keywords: Rehabilitation robotics

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APA (6^th Edition):

English, B. A. (2018). A physical therapy system for encouraging specific motion in wrist rehabilitation exercises. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62181

Chicago Manual of Style (16^th Edition):

English, Brittney Ann. “A physical therapy system for encouraging specific motion in wrist rehabilitation exercises.” 2018. Doctoral Dissertation, Georgia Tech. Accessed March 08, 2021. http://hdl.handle.net/1853/62181.

MLA Handbook (7^th Edition):

English, Brittney Ann. “A physical therapy system for encouraging specific motion in wrist rehabilitation exercises.” 2018. Web. 08 Mar 2021.

Vancouver:

English BA. A physical therapy system for encouraging specific motion in wrist rehabilitation exercises. [Internet] [Doctoral dissertation]. Georgia Tech; 2018. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1853/62181.

Council of Science Editors:

English BA. A physical therapy system for encouraging specific motion in wrist rehabilitation exercises. [Doctoral Dissertation]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/62181

University of Utah

2. Sani, Hamidreza Najafi. Design, control, and evaluation of a spatial active handrest for providing ergonomic support and gravity compensation over a large workspace.

Degree: PhD, Mechanical Engineering, 2015, University of Utah

URL: http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3837/rec/649

► Most humans have difficulty performing precision tasks, such as writing and painting, without additional physical support(s) to help steady or offload their arm's weight. To… (more)

Subjects/Keywords: Hardrest; Rehabilitation; Robotics

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APA (6^th Edition):

Sani, H. N. (2015). Design, control, and evaluation of a spatial active handrest for providing ergonomic support and gravity compensation over a large workspace. (Doctoral Dissertation). University of Utah. Retrieved from http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3837/rec/649

Chicago Manual of Style (16^th Edition):

Sani, Hamidreza Najafi. “Design, control, and evaluation of a spatial active handrest for providing ergonomic support and gravity compensation over a large workspace.” 2015. Doctoral Dissertation, University of Utah. Accessed March 08, 2021. http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3837/rec/649.

MLA Handbook (7^th Edition):

Sani, Hamidreza Najafi. “Design, control, and evaluation of a spatial active handrest for providing ergonomic support and gravity compensation over a large workspace.” 2015. Web. 08 Mar 2021.

Vancouver:

Sani HN. Design, control, and evaluation of a spatial active handrest for providing ergonomic support and gravity compensation over a large workspace. [Internet] [Doctoral dissertation]. University of Utah; 2015. [cited 2021 Mar 08]. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3837/rec/649.

Council of Science Editors:

Sani HN. Design, control, and evaluation of a spatial active handrest for providing ergonomic support and gravity compensation over a large workspace. [Doctoral Dissertation]. University of Utah; 2015. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3837/rec/649

University of Alberta

3. Rezazadeh, Siavash. Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation Robotics.

Degree: PhD, Department of Mechanical Engineering, 2012, University of Alberta

URL: https://era.library.ualberta.ca/files/hq37vn93g

► With increasing demand for physical therapy in recent years, robotic systems have been proved to have great potential in improving the level of the delivered… (more)

▼ With increasing demand for physical therapy in recent years, robotic systems have been proved to have great potential in improving the level of the delivered rehabilitation services both in quality and quantity and also providing huge savings in labor costs of. In this project a new cable-driven robotic cell for rehabilitation of human limbs is proposed and developed. This system has several advantages over the commercialized therapy robots, including reconfigurability and ability of handling redundancies. In this framework, the first challenge is to determine the number and configuration of the cables which guarantee the equilibrium of the system against an arbitrary force. The necessary and sufficient number of cables for single rigid body systems is well-known in the literature. However, since the human arm is a multibody system, a new theory was developed to determine the minimum total number of cables for a multibody as well as their possible distributions among the links of the multibody. In the second step, a method was proposed to obtain the boundaries of the workspace of the robot by Lagrangian formulation of dynamics of the multibody. Having the workspace, the final part of the thesis is on designing the control loop and its real-time implementation on a mechanical model of the human upper extremity. The control logic was designed in two levels: position control and compliance control. Position control is utilized for following a specified trajectory (representing an exercise for the patient's arm), while compliance control provides flexibility for deviating from that trajectory. The compliance control method used is impedance control in which the robot acts similar to a mass-spring-damper system. To achieve the exact stiffness required by impedance control, the inherent stiffness of the cable robot is formulated and taken into account by extending the theories proposed in the literature for stiffness of rigid-body cable robots for multibodies. Using impedance control enables us to perform different scenarios for training including teaching/playback and assistive/resistive exercising. The experimental results prove the effectiveness of the theories developed for dynamics and control of the multibody cable-driven robots.

Subjects/Keywords: cable-driven; rehabilitation robotics

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APA (6^th Edition):

Rezazadeh, S. (2012). Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation Robotics. (Doctoral Dissertation). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/hq37vn93g

Chicago Manual of Style (16^th Edition):

Rezazadeh, Siavash. “Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation Robotics.” 2012. Doctoral Dissertation, University of Alberta. Accessed March 08, 2021. https://era.library.ualberta.ca/files/hq37vn93g.

MLA Handbook (7^th Edition):

Rezazadeh, Siavash. “Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation Robotics.” 2012. Web. 08 Mar 2021.

Vancouver:

Rezazadeh S. Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation Robotics. [Internet] [Doctoral dissertation]. University of Alberta; 2012. [cited 2021 Mar 08]. Available from: https://era.library.ualberta.ca/files/hq37vn93g.

Council of Science Editors:

Rezazadeh S. Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation Robotics. [Doctoral Dissertation]. University of Alberta; 2012. Available from: https://era.library.ualberta.ca/files/hq37vn93g

Vanderbilt University

4. Wang, Furui. Design and control of robotic systems for upper extremity rehabilitation following stroke.

Degree: PhD, Mechanical Engineering, 2011, Vanderbilt University

URL: http://hdl.handle.net/1803/14982

► Stroke is the leading cause of serious, long-term disability in the United States. Each year, about 795,000 Americans experience a new or recurrent stroke, resulting… (more)

▼ Stroke is the leading cause of serious, long-term disability in the United States. Each year, about 795,000 Americans experience a new or recurrent stroke, resulting in an estimated stroke population of 7 million in the USA. Upper extremity impairment is a prevalent outcome of stroke. Loss of arm and hand function due to neuromuscular disorders frequently prevents effective self-care and limits employment opportunities. In recent years, robot-assisted rehabilitation has been an active area of research. Various robotic systems and strategies have been developed to make robot an effective tool in stroke rehabilitation. This dissertation presents the research work to improve robot-assisted rehabilitation of the upper extremity. First, a high-level supervisory controller is designed to incorporate voice recognition to a robotic system for arm rehabilitation. The high-level controller monitors task execution and makes task adjustment according to the user¡¯s verbal feedback to impart effective rehabilitation therapies. The enhanced robotic system is able to improve the efficiency of arm rehabilitation therapy and reduce the workload of the therapist. Next, an integrated rehabilitation strategy of assist-as-needed and visual error augmentation is proposed and implemented on a robotic system. This strategy is evaluated in a crossover study with 20 subjects. The experimental results demonstrate that the proposed strategy has significantly improved the task performance of healthy subjects and has the potential to improve the efficiency of stroke rehabilitation. Last, an actuated hand exoskeleton is developed for hand rehabilitation study. The hand exoskeleton consists of an actuated finger exoskeleton (AFX) and an actuated thumb exoskeleton (ATX). It allows individual control of each joint of the index finger and the thumb with substantial joint torque and speed capacities that are necessary for stroke rehabilitation. The kinematic and kinetic performances of the AFX and the ATX have been tested and met all design requirements. This device will provide a platform that permits comprehensive research of different rehabilitation therapies and motor control studies of the hand. Contributions and future directions of the research work are discussed at the end of the dissertation. Advisors/Committee Members: George E. Cook (committee member), Michael Goldfarb (committee member), Robert Webster (committee member), Nilanjan Sarkar (Committee Chair), Derek Kamper (Committee Chair).

Subjects/Keywords: mechanical design; control; Rehabilitation Robotics

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APA (6^th Edition):

Wang, F. (2011). Design and control of robotic systems for upper extremity rehabilitation following stroke. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14982

Chicago Manual of Style (16^th Edition):

Wang, Furui. “Design and control of robotic systems for upper extremity rehabilitation following stroke.” 2011. Doctoral Dissertation, Vanderbilt University. Accessed March 08, 2021. http://hdl.handle.net/1803/14982.

MLA Handbook (7^th Edition):

Wang, Furui. “Design and control of robotic systems for upper extremity rehabilitation following stroke.” 2011. Web. 08 Mar 2021.

Vancouver:

Wang F. Design and control of robotic systems for upper extremity rehabilitation following stroke. [Internet] [Doctoral dissertation]. Vanderbilt University; 2011. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1803/14982.

Council of Science Editors:

Wang F. Design and control of robotic systems for upper extremity rehabilitation following stroke. [Doctoral Dissertation]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/14982

University of Guelph

5. Seth, Nitin. Robotic Assessment System for Spasticity in Patients with Acquired Brain Injury.

Degree: PhD, School of Engineering, 2015, University of Guelph

URL: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/9274

► Spasticity is a symptom of upper motor neuron (UMN) syndrome that commonly affects individuals suffering the effects of stroke, multiple-sclerosis, spinal cord injury, or acquired… (more)

▼ Spasticity is a symptom of upper motor neuron (UMN) syndrome that commonly affects individuals suffering the effects of stroke, multiple-sclerosis, spinal cord injury, or acquired brain injury. Current clinical standards and methods available for assessing and quantifying the effects of the UMN syndrome are considered to lack sensitivity and do not properly reflect the condition of the patient. This work discusses the analysis and quantification of spasticity in patients with acquired brain injury. A sensor integrated robotic system was developed in close consultations with physiotherapists to assist in the spasticity assessment and monitoring of individuals receiving care. Resistive force measurements have been obtained from individuals undergoing flexion and extension of the elbow joint in the sagittal plane. Repetitions were performed at progressively increasing speeds in an effort to capture the velocity dependent resistance to passive motion that is commonly attributable to spasticity. The goal of this research was to collect multidimensional healthy control and clinical data to provide insight into patients' condition and their evaluations. An analysis was performed on the force, position, and time data along with other metrics developed to assist in assessment. These variables and metrics were compared against the traditional spasticity evaluation scale, the Modified Ashworth Scale (MAS), to demonstrate that similar effects are being captured while providing more information regarding the individual. The healthy control data are presented as a reference for clinicians to observe what quantified baseline data "looks like", including quantiles that may be used for patient tracking or monitoring. Results demonstrate that the system is capable of detecting the effects of spasticity while relating it to the MAS. This study helps uncover the nature of the MAS scale and illustrates that individuals who scored 0 on the MAS scale are closely related to healthy individuals but still distinct. The multidimensional aspect of the data is leveraged to differentiate different levels of the MAS. Although MAS 0's and healthy individuals present similar data, the multidimensional nature allows intensive comparison techniques such as dynamic time warping, to distinguish between the two accurately. Advisors/Committee Members: Abdullah, Hussein A. (advisor).

Subjects/Keywords: Spasticity; Rehabilitation Robotics; Clinical Assessments

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APA (6^th Edition):

Seth, N. (2015). Robotic Assessment System for Spasticity in Patients with Acquired Brain Injury. (Doctoral Dissertation). University of Guelph. Retrieved from https://atrium.lib.uoguelph.ca/xmlui/handle/10214/9274

Chicago Manual of Style (16^th Edition):

Seth, Nitin. “Robotic Assessment System for Spasticity in Patients with Acquired Brain Injury.” 2015. Doctoral Dissertation, University of Guelph. Accessed March 08, 2021. https://atrium.lib.uoguelph.ca/xmlui/handle/10214/9274.

MLA Handbook (7^th Edition):

Seth, Nitin. “Robotic Assessment System for Spasticity in Patients with Acquired Brain Injury.” 2015. Web. 08 Mar 2021.

Vancouver:

Seth N. Robotic Assessment System for Spasticity in Patients with Acquired Brain Injury. [Internet] [Doctoral dissertation]. University of Guelph; 2015. [cited 2021 Mar 08]. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/9274.

Council of Science Editors:

Seth N. Robotic Assessment System for Spasticity in Patients with Acquired Brain Injury. [Doctoral Dissertation]. University of Guelph; 2015. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/9274

6. Chen, Tianyao. TORQUE CONTROLLED EXOSKELETON FOR UPPER LIMB REHABILITATION.

Degree: 2017, The Catholic University of America

URL: http://hdl.handle.net/1961/cuislandora:67497

►

Stroke commonly results in abnormal muscle synergy, spasticity, muscle weakness and neural couplings. Stroke patients often present with movement deficits with respect to range of… (more)

Subjects/Keywords: Biomechanics; Exoskeleton; Mechanical; rehabilitation; Robotics

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APA (6^th Edition):

Chen, T. (2017). TORQUE CONTROLLED EXOSKELETON FOR UPPER LIMB REHABILITATION. (Thesis). The Catholic University of America. Retrieved from http://hdl.handle.net/1961/cuislandora:67497

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Chen, Tianyao. “TORQUE CONTROLLED EXOSKELETON FOR UPPER LIMB REHABILITATION.” 2017. Thesis, The Catholic University of America. Accessed March 08, 2021. http://hdl.handle.net/1961/cuislandora:67497.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Chen, Tianyao. “TORQUE CONTROLLED EXOSKELETON FOR UPPER LIMB REHABILITATION.” 2017. Web. 08 Mar 2021.

Vancouver:

Chen T. TORQUE CONTROLLED EXOSKELETON FOR UPPER LIMB REHABILITATION. [Internet] [Thesis]. The Catholic University of America; 2017. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1961/cuislandora:67497.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Chen T. TORQUE CONTROLLED EXOSKELETON FOR UPPER LIMB REHABILITATION. [Thesis]. The Catholic University of America; 2017. Available from: http://hdl.handle.net/1961/cuislandora:67497

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Université Catholique de Louvain

7. Leconte, Patricia. Robotic assessment and rehabilitation of rhythmic upper-limb movement primitives after stroke.

Degree: 2017, Université Catholique de Louvain

URL: http://hdl.handle.net/2078.1/191760

►

After a stroke, two fundamental motor primitives are potentially impaired, i.e. discrete and rhythmic movements. Discrete movements consist of movements between successions of postures while… (more)

Subjects/Keywords: Rehabilitation; Robotics; Stroke; Motor primitives

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APA (6^th Edition):

Leconte, P. (2017). Robotic assessment and rehabilitation of rhythmic upper-limb movement primitives after stroke. (Thesis). Université Catholique de Louvain. Retrieved from http://hdl.handle.net/2078.1/191760

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Leconte, Patricia. “Robotic assessment and rehabilitation of rhythmic upper-limb movement primitives after stroke.” 2017. Thesis, Université Catholique de Louvain. Accessed March 08, 2021. http://hdl.handle.net/2078.1/191760.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Leconte, Patricia. “Robotic assessment and rehabilitation of rhythmic upper-limb movement primitives after stroke.” 2017. Web. 08 Mar 2021.

Vancouver:

Leconte P. Robotic assessment and rehabilitation of rhythmic upper-limb movement primitives after stroke. [Internet] [Thesis]. Université Catholique de Louvain; 2017. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/2078.1/191760.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Leconte P. Robotic assessment and rehabilitation of rhythmic upper-limb movement primitives after stroke. [Thesis]. Université Catholique de Louvain; 2017. Available from: http://hdl.handle.net/2078.1/191760

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Rice University

8. Artz, Edward J. Myoelectric Control of a Robotic Exoskeleton for Rehabilitation.

Degree: MS, Engineering, 2015, Rice University

URL: http://hdl.handle.net/1911/87701

► A primary challenge in the design of human-robot interfaces for rehabilitation after neurological injury, such as stroke or spinal cord injury, is the detection of… (more)

Subjects/Keywords: Robotics; Exoskeleton; Electromyography; Rehabilitation

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APA (6^th Edition):

Artz, E. J. (2015). Myoelectric Control of a Robotic Exoskeleton for Rehabilitation. (Masters Thesis). Rice University. Retrieved from http://hdl.handle.net/1911/87701

Chicago Manual of Style (16^th Edition):

Artz, Edward J. “Myoelectric Control of a Robotic Exoskeleton for Rehabilitation.” 2015. Masters Thesis, Rice University. Accessed March 08, 2021. http://hdl.handle.net/1911/87701.

MLA Handbook (7^th Edition):

Artz, Edward J. “Myoelectric Control of a Robotic Exoskeleton for Rehabilitation.” 2015. Web. 08 Mar 2021.

Vancouver:

Artz EJ. Myoelectric Control of a Robotic Exoskeleton for Rehabilitation. [Internet] [Masters thesis]. Rice University; 2015. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1911/87701.

Council of Science Editors:

Artz EJ. Myoelectric Control of a Robotic Exoskeleton for Rehabilitation. [Masters Thesis]. Rice University; 2015. Available from: http://hdl.handle.net/1911/87701

Rice University

9. Rose, Chad Gregory. Hybrid Rigid-Soft Exoskeleton Design.

Degree: PhD, Engineering, 2018, Rice University

URL: http://hdl.handle.net/1911/105860

► This thesis presents a hybrid approach to exoskeleton design, a novel approach of combining rigid and compliant elements to create capable, wearable devices. An assistive… (more)

Subjects/Keywords: Robotics; Wearables; Exoskeletons; Rehabilitation; Assistance

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APA (6^th Edition):

Rose, C. G. (2018). Hybrid Rigid-Soft Exoskeleton Design. (Doctoral Dissertation). Rice University. Retrieved from http://hdl.handle.net/1911/105860

Chicago Manual of Style (16^th Edition):

Rose, Chad Gregory. “Hybrid Rigid-Soft Exoskeleton Design.” 2018. Doctoral Dissertation, Rice University. Accessed March 08, 2021. http://hdl.handle.net/1911/105860.

MLA Handbook (7^th Edition):

Rose, Chad Gregory. “Hybrid Rigid-Soft Exoskeleton Design.” 2018. Web. 08 Mar 2021.

Vancouver:

Rose CG. Hybrid Rigid-Soft Exoskeleton Design. [Internet] [Doctoral dissertation]. Rice University; 2018. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1911/105860.

Council of Science Editors:

Rose CG. Hybrid Rigid-Soft Exoskeleton Design. [Doctoral Dissertation]. Rice University; 2018. Available from: http://hdl.handle.net/1911/105860

10. Theriault, Andrew R. A Robust Wheel Interface With A Novel Adaptive Controller For Computer/robot-Assisted Motivating Rehabilitation.

Degree: 2013, Marquette University

URL: https://epublications.marquette.edu/theses_open/206

► TheraDrive is a low-cost robotic system for post-stroke upper extremity rehabilitation. This system uses off-the-shelf computer gaming wheels with force feedback to help reduce motor… (more)

▼ TheraDrive is a low-cost robotic system for post-stroke upper extremity rehabilitation. This system uses off-the-shelf computer gaming wheels with force feedback to help reduce motor impairment and improve function in the arms of stroke survivors. Preliminary results show that the TheraDrive system lacks a robust mechanical linkage that can withstand the forces exerted by patients, lacks a patient-specific adaptive controller to deliver personalized therapy, and is not capable of delivering effective therapy to severely low-functioning patients. A new low-cost, high-force haptic robot with a single degree of freedom has been developed to address these concerns. The resulting TheraDrive consists of an actuated hand crank with a compliant transmission. Actuation is provided by a brushed DC motor, geared to output up to 50 lbf (223 N) at the end effector. To enable safe human-machine interaction, a special compliant element was developed to function also as a failsafe torque limiter. A load cell is used to determine the human-machine interaction forces for use by the robot's impedance controller. The impedance controller renders a virtual spring that attracts or repels the end effector from a moving target that the human must track during therapy exercises. As exercises are performed, an adaptive controller monitors patient performance and adjusts the spring stiffness to ensure that exercises are difficult but doable, which is important for maintaining patient motivation. Experiments with a computer model of a human and robot show the adaptive controller's ability to maintain difficulty of exercises after a period of initial calibration. Seven human subjects (3 normal, 4 stroke-impaired) were used to test this system alongside the original TheraDrive system in order to compare both systems. Data showed that the new system produced a larger change in normalized trajectory tracking error when assistance/resistance was added to exercises when compared to the original TheraDrive. Data also showed that adaptive control led subject performance to be closer to a desired level. Motivation surveys showed no significant difference in subject motivation between the two systems. When asked to choose a preferred system, stroke subjects unanimously chose the new robot. Advisors/Committee Members: Nagurka, Mark L., Nagurka, Mark L., Johnson, Michelle J..

Subjects/Keywords: adaptive control; Rehabilitation robotics

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APA (6^th Edition):

Theriault, A. R. (2013). A Robust Wheel Interface With A Novel Adaptive Controller For Computer/robot-Assisted Motivating Rehabilitation. (Thesis). Marquette University. Retrieved from https://epublications.marquette.edu/theses_open/206

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Theriault, Andrew R. “A Robust Wheel Interface With A Novel Adaptive Controller For Computer/robot-Assisted Motivating Rehabilitation.” 2013. Thesis, Marquette University. Accessed March 08, 2021. https://epublications.marquette.edu/theses_open/206.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Theriault, Andrew R. “A Robust Wheel Interface With A Novel Adaptive Controller For Computer/robot-Assisted Motivating Rehabilitation.” 2013. Web. 08 Mar 2021.

Vancouver:

Theriault AR. A Robust Wheel Interface With A Novel Adaptive Controller For Computer/robot-Assisted Motivating Rehabilitation. [Internet] [Thesis]. Marquette University; 2013. [cited 2021 Mar 08]. Available from: https://epublications.marquette.edu/theses_open/206.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Theriault AR. A Robust Wheel Interface With A Novel Adaptive Controller For Computer/robot-Assisted Motivating Rehabilitation. [Thesis]. Marquette University; 2013. Available from: https://epublications.marquette.edu/theses_open/206

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Colorado School of Mines

11. Young, Kevyn C. Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton.

Degree: MS(M.S.), Mechanical Engineering, 2016, Colorado School of Mines

URL: http://hdl.handle.net/11124/170249

► Stroke is the leading cause of long-term adult disability in the U.S., with an annual cost estimated at 69 billion. Neuroplasticity of the brain allows… (more)

Subjects/Keywords: mechatronics; rehabilitation; rehabilitation games; robotics; serious games; stroke rehabilitation

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APA (6^th Edition):

Young, K. C. (2016). Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/170249

Chicago Manual of Style (16^th Edition):

Young, Kevyn C. “Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton.” 2016. Masters Thesis, Colorado School of Mines. Accessed March 08, 2021. http://hdl.handle.net/11124/170249.

MLA Handbook (7^th Edition):

Young, Kevyn C. “Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton.” 2016. Web. 08 Mar 2021.

Vancouver:

Young KC. Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton. [Internet] [Masters thesis]. Colorado School of Mines; 2016. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/11124/170249.

Council of Science Editors:

Young KC. Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton. [Masters Thesis]. Colorado School of Mines; 2016. Available from: http://hdl.handle.net/11124/170249

Vanderbilt University

12. Martinez Guerra, Andres. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.

Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University

URL: http://hdl.handle.net/1803/13051

► Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused… (more)

Subjects/Keywords: Rehabilitation Robotics; Controls; Lower-Limb Exoskeleton

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APA (6^th Edition):

Martinez Guerra, A. (2019). Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13051

Chicago Manual of Style (16^th Edition):

Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed March 08, 2021. http://hdl.handle.net/1803/13051.

MLA Handbook (7^th Edition):

Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Web. 08 Mar 2021.

Vancouver:

Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1803/13051.

Council of Science Editors:

Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/13051

Vanderbilt University

13. Martinez Guerra, Andres. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.

Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University

URL: http://hdl.handle.net/1803/12867

► Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused… (more)

Subjects/Keywords: lower-limb exoskeletons; controls; rehabilitation robotics

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APA (6^th Edition):

Martinez Guerra, A. (2019). Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12867

Chicago Manual of Style (16^th Edition):

Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed March 08, 2021. http://hdl.handle.net/1803/12867.

MLA Handbook (7^th Edition):

Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Web. 08 Mar 2021.

Vancouver:

Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1803/12867.

Council of Science Editors:

Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/12867

University of Toronto

14. Chiam, Howard. Game Design for Stroke Rehabilitation Robots: A Pilot Study Comparing Masked Versus Unmasked Game Designs.

Degree: 2017, University of Toronto

URL: http://hdl.handle.net/1807/77781

►

Appropriately-designed computer games can improve rehabilitation therapy outcomes by motivating stroke survivors to follow through with exercises. Supplementing conventional therapy with computer games and robotics… (more)

Subjects/Keywords: Gamification; Masking; Motivation; Rehabilitation robotics; Stroke; 0541

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APA (6^th Edition):

Chiam, H. (2017). Game Design for Stroke Rehabilitation Robots: A Pilot Study Comparing Masked Versus Unmasked Game Designs. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/77781

Chicago Manual of Style (16^th Edition):

Chiam, Howard. “Game Design for Stroke Rehabilitation Robots: A Pilot Study Comparing Masked Versus Unmasked Game Designs.” 2017. Masters Thesis, University of Toronto. Accessed March 08, 2021. http://hdl.handle.net/1807/77781.

MLA Handbook (7^th Edition):

Chiam, Howard. “Game Design for Stroke Rehabilitation Robots: A Pilot Study Comparing Masked Versus Unmasked Game Designs.” 2017. Web. 08 Mar 2021.

Vancouver:

Chiam H. Game Design for Stroke Rehabilitation Robots: A Pilot Study Comparing Masked Versus Unmasked Game Designs. [Internet] [Masters thesis]. University of Toronto; 2017. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1807/77781.

Council of Science Editors:

Chiam H. Game Design for Stroke Rehabilitation Robots: A Pilot Study Comparing Masked Versus Unmasked Game Designs. [Masters Thesis]. University of Toronto; 2017. Available from: http://hdl.handle.net/1807/77781

University of Guelph

15. Jackson, Gregory. Development of a Pneumatic Hand Training Device for Stroke Rehabilitation.

Degree: Master of Applied Science, School of Engineering, 2013, University of Guelph

URL: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7373

► A new hand training system has been designed and built to help clinicians administrate hand therapy to stroke patients. It uses pneumatics to actuate the… (more)

Subjects/Keywords: Robotics; Pneumatics; Robotic Rehabilitation; Therapeutic Devices

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APA (6^th Edition):

Jackson, G. (2013). Development of a Pneumatic Hand Training Device for Stroke Rehabilitation. (Masters Thesis). University of Guelph. Retrieved from https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7373

Chicago Manual of Style (16^th Edition):

Jackson, Gregory. “Development of a Pneumatic Hand Training Device for Stroke Rehabilitation.” 2013. Masters Thesis, University of Guelph. Accessed March 08, 2021. https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7373.

MLA Handbook (7^th Edition):

Jackson, Gregory. “Development of a Pneumatic Hand Training Device for Stroke Rehabilitation.” 2013. Web. 08 Mar 2021.

Vancouver:

Jackson G. Development of a Pneumatic Hand Training Device for Stroke Rehabilitation. [Internet] [Masters thesis]. University of Guelph; 2013. [cited 2021 Mar 08]. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7373.

Council of Science Editors:

Jackson G. Development of a Pneumatic Hand Training Device for Stroke Rehabilitation. [Masters Thesis]. University of Guelph; 2013. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7373

Université Catholique de Louvain

16. Gilliaux, Maxime. A robotic device to assess and rehabilitate upper limb movements in cerebral palsy children and stroke adults.

Degree: 2015, Université Catholique de Louvain

URL: http://hdl.handle.net/2078.1/160971

►

Cerebral palsy (CP) and stroke are major causes of permanent disabilities. These disabilities justify intensive interdisciplinary rehabilitation and regular assessments, which could be optimized using… (more)

▼

Cerebral palsy (CP) and stroke are major causes of permanent disabilities. These disabilities justify intensive interdisciplinary rehabilitation and regular assessments, which could be optimized using robotics. This PhD thesis investigated the clinical interest in robotic devices to assess and rehabilitate upper limb movements in CP children and stroke adults. This investigation was performed with the REAplan robot, which is an end-effector robotic device that moves the patient’s upper limb in a horizontal plane using various assistance modes (i.e., active, active-passive, passive). The first part of this thesis investigated how a robotic device could quantitatively assess upper limb movements in both populations. A standardized protocol was developed to assess upper limb kinematics using the REAplan robot in CP children and stroke adults. The reproducibility, validity, responsiveness and reference standards of this protocol were established, and a short version of this protocol was provided to facilitate the assessment of upper limb kinematics in routine clinical practice. The second part of this thesis investigated how a robotic device could efficiently rehabilitate upper limb movements in CP children. A standardized protocol for robot-assisted therapy (RAT) was first developed according to the current recommendations in CP neuro-rehabilitation. This protocol was used in a single-blind randomized controlled trial that assessed the efficacy of RAT in CP children. This trial showed that the combination of conventional therapy (CT) and RAT could significantly improve upper limb kinematics and manual dexterity in CP children compared with CT alone. Thus, robotic devices could quantitatively assess and efficiently rehabilitate upper limb movements in CP children and stroke adults. These findings would not have been possible without close collaboration between engineers, technicians, clinicians and researchers. Further similar collaborations should be encouraged to facilitate technological integration in rehabilitation.

L’infirmité motrice d’origine cérébrale (IMoC) et les accidents vasculaires cérébraux (AVC) sont les principales causes d'invalidités permanentes. Ces pathologies justifient une rééducation interdisciplinaire intensive et des évaluations régulières, pouvant être optimisées par la robotique. Cette thèse de doctorat a étudié l'intérêt clinique de dispositifs robotiques afin d'évaluer et de rééduquer les mouvements du membre supérieur chez les enfants IMoC et les adultes AVC. Cette investigation a été réalisée à l’aide du robot REAplan. REAplan est un dispositif robotique à effecteur distal permettant la mobilisation du membre supérieur dans le plan horizontal grâce à différents modes d'assistance (i.e., actif, activo-passif, passif). La première partie de cette thèse a investigué comment un dispositif robotique pouvait évaluer quantitativement les mouvements du membre supérieur au sein des deux populations. Un protocole standardisé a été développé afin d’évaluer la cinématique du membre supérieur chez…

Advisors/Committee Members: UCL - SSS/IREC/CARS - Computer Assisted and Robotic Surgery, UCL - Faculté des sciences de la motricité, Detrembleur, Christine, Stoquart, Gaëtan, Thonnard, Jean-Louis, Ronsse, Renaud, Bleyenheuft, Yannick, Marque, Philippe, Raison, Maxime.

Subjects/Keywords: Stroke; Cerebral palsy; Robotics; Biomechanics; Rehabilitation

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APA (6^th Edition):

Gilliaux, M. (2015). A robotic device to assess and rehabilitate upper limb movements in cerebral palsy children and stroke adults. (Thesis). Université Catholique de Louvain. Retrieved from http://hdl.handle.net/2078.1/160971

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Gilliaux, Maxime. “A robotic device to assess and rehabilitate upper limb movements in cerebral palsy children and stroke adults.” 2015. Thesis, Université Catholique de Louvain. Accessed March 08, 2021. http://hdl.handle.net/2078.1/160971.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Gilliaux, Maxime. “A robotic device to assess and rehabilitate upper limb movements in cerebral palsy children and stroke adults.” 2015. Web. 08 Mar 2021.

Vancouver:

Gilliaux M. A robotic device to assess and rehabilitate upper limb movements in cerebral palsy children and stroke adults. [Internet] [Thesis]. Université Catholique de Louvain; 2015. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/2078.1/160971.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Gilliaux M. A robotic device to assess and rehabilitate upper limb movements in cerebral palsy children and stroke adults. [Thesis]. Université Catholique de Louvain; 2015. Available from: http://hdl.handle.net/2078.1/160971

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Rice University

17. Rose, Chad Gregory. Hardware- versus Human-centric Assessment of Rehabilitation Robots.

Degree: MS, Engineering, 2015, Rice University

URL: http://hdl.handle.net/1911/87786

► Individuals with disabilities arising from neurological injury require rehabilitation of the distal joints of the upper extremities to regain the ability to independently perform activities… (more)

Subjects/Keywords: Rehabilitation Robotics; robotic characterization; motion capture

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APA (6^th Edition):

Rose, C. G. (2015). Hardware- versus Human-centric Assessment of Rehabilitation Robots. (Masters Thesis). Rice University. Retrieved from http://hdl.handle.net/1911/87786

Chicago Manual of Style (16^th Edition):

Rose, Chad Gregory. “Hardware- versus Human-centric Assessment of Rehabilitation Robots.” 2015. Masters Thesis, Rice University. Accessed March 08, 2021. http://hdl.handle.net/1911/87786.

MLA Handbook (7^th Edition):

Rose, Chad Gregory. “Hardware- versus Human-centric Assessment of Rehabilitation Robots.” 2015. Web. 08 Mar 2021.

Vancouver:

Rose CG. Hardware- versus Human-centric Assessment of Rehabilitation Robots. [Internet] [Masters thesis]. Rice University; 2015. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1911/87786.

Council of Science Editors:

Rose CG. Hardware- versus Human-centric Assessment of Rehabilitation Robots. [Masters Thesis]. Rice University; 2015. Available from: http://hdl.handle.net/1911/87786

Rice University

18. Pehlivan, Ali Utku. Subject Adaptive Control Paradigms for Robotic Rehabilitation.

Degree: PhD, Engineering, 2016, Rice University

URL: http://hdl.handle.net/1911/96617

► As the majority of the activities of daily living involve distal upper extremity movement, eff ective rehabilitation of the upper limbs, especially the distal joints,… (more)

▼ As the majority of the activities of daily living involve distal upper extremity movement, eff ective rehabilitation of the upper limbs, especially the distal joints, is crucial. Due to their inherent capabilities to deliver intensive and repetitive therapy, robotic devices are increasingly being used for the rehabilitation of neurologically impaired individuals. However, not every robotic device or therapy protocol has been shown to promote plasticity-mediated recovery. It is necessary that the robotic therapy must be capable of engaging the participant. Furthermore, the mechanical design of the robotic device must exhibit specifi c properties, such as low apparent inertia and friction, isotropic dynamic characteristics, and minimal backlash, to support sophisticated interaction modes. In this thesis a subject adaptive controller, capable of adaptively estimating position-dependent subject input and providing only the required amount of assistance is presented. This controller aims to maximize the participants' engagement in their therapy. Features of the controller were validated via simulations and experiments, and clinical validation was conducted with an elbow-forearm-wrist exoskeleton, the MAHI Exo-II. Results highlighted limitations in both the hardware's workspace and in the controller's performance. To address this limitations a novel wrist-forearm exoskeleton, the RiceWrsit-S, is proposed and an improved minimally assistive (mAAN) controller is presented. The controller is capable of estimating subject input as a function of time, hence it can estimate subject input regardless of position dependency, as opposed to the subject adaptive controller proposed in the rst part of the thesis. Novel features of the controller algorithm for maintaining subject engagement via performance based challenge modulation while still satisfying ultimately bounded error performance are presented. The mAAN controller and consistency of the accompanying algorithms are demonstrated experimentally with healthy subjects and with one subject with incomplete spinal cord injury in the RiceWrist-S. The proposed controllers and the novel exoskeletal device provide a means for a more eff ective robot-aided rehabilitation of neurologically impaired individuals. Advisors/Committee Members: O'Malley, Marcia K (advisor).

Subjects/Keywords: Robotics; Nonlinear Control; Exoskeletal Devices; Robotic Rehabilitation

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Pehlivan, A. U. (2016). Subject Adaptive Control Paradigms for Robotic Rehabilitation. (Doctoral Dissertation). Rice University. Retrieved from http://hdl.handle.net/1911/96617

Chicago Manual of Style (16^th Edition):

Pehlivan, Ali Utku. “Subject Adaptive Control Paradigms for Robotic Rehabilitation.” 2016. Doctoral Dissertation, Rice University. Accessed March 08, 2021. http://hdl.handle.net/1911/96617.

MLA Handbook (7^th Edition):

Pehlivan, Ali Utku. “Subject Adaptive Control Paradigms for Robotic Rehabilitation.” 2016. Web. 08 Mar 2021.

Vancouver:

Pehlivan AU. Subject Adaptive Control Paradigms for Robotic Rehabilitation. [Internet] [Doctoral dissertation]. Rice University; 2016. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1911/96617.

Council of Science Editors:

Pehlivan AU. Subject Adaptive Control Paradigms for Robotic Rehabilitation. [Doctoral Dissertation]. Rice University; 2016. Available from: http://hdl.handle.net/1911/96617

Rice University

19. Losey, Dylan Patrick. Adaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitation.

Degree: MS, Engineering, 2016, Rice University

URL: http://hdl.handle.net/1911/96555

► This thesis discusses the use of adaptive control within human-robot interaction, and in particular rehabilitation robots, in order to change the perceived closed-loop system dynamics… (more)

Subjects/Keywords: adaptive control; human-robot interaction; rehabilitation robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Losey, D. P. (2016). Adaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitation. (Masters Thesis). Rice University. Retrieved from http://hdl.handle.net/1911/96555

Chicago Manual of Style (16^th Edition):

Losey, Dylan Patrick. “Adaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitation.” 2016. Masters Thesis, Rice University. Accessed March 08, 2021. http://hdl.handle.net/1911/96555.

MLA Handbook (7^th Edition):

Losey, Dylan Patrick. “Adaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitation.” 2016. Web. 08 Mar 2021.

Vancouver:

Losey DP. Adaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitation. [Internet] [Masters thesis]. Rice University; 2016. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1911/96555.

Council of Science Editors:

Losey DP. Adaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitation. [Masters Thesis]. Rice University; 2016. Available from: http://hdl.handle.net/1911/96555

University of California – Irvine

20. Rowe, Justin B. Evaluating Robotic Assistance and Developing a Wearable Hand Activity Monitor to Improve Upper Extremity Movement Recovery after Stroke.

Degree: Biomedical Engineering, 2015, University of California – Irvine

URL: http://www.escholarship.org/uc/item/2gq5z12d

► In their daily lives, stroke survivors must often choose between attempting upper-extremity activities using their impaired limb, or compensating with their less impaired limb. Choosing… (more)

▼ In their daily lives, stroke survivors must often choose between attempting upper-extremity activities using their impaired limb, or compensating with their less impaired limb. Choosing their impaired limb can be difficult and discouraging, but might elicit beneficial neuroplasticity that further reduces motor impairments, a phenomenon referred to as “the virtuous cycle”. In contrast, compensation is often quicker, easier, and more effective, but can reinforce maladaptive changes that limit motor recovery, a phenomenon referred to as “learned non-use”. This dissertation evaluated the role of robotic assistance in, and designed a wearable sensing system for, promoting the virtuous cycle.In the first half of the dissertation, we use the FINGER robot to test the hypothesis that robotic assistance during clinical movement training triggers the virtual cycle. FINGER consists of two singly-actuated mechanisms that assist individuated movement of the index and middle fingers. 30 chronic stroke participants trained in FINGER using a GuitarHero-like game for nine sessions. Half were guided by an adaptive impedance controller towards a success rate of 85%, while the other half were guided towards 50%. Increasing assistance to enable successful practice decreased effort, but primarily for less-impaired participants. Overall, however, high success practice was as effective (or more) as low success practice and even more effective for highly impaired individuals. Participants who received high assistance training were more motivated and reported using their impaired hand more at home. These results support the hypothesis that high assistance clinical movement training motivates impaired hand use, leading to greater use of the hand in daily life, resulting in a self-training effect that reduces motor impairment.The second half of the dissertation describes the development of the manumeter - a non-obtrusive wearable device for monitoring and incentivizing impaired hand use. Contrasted against wrist accelerometry (the most comparable technology), the manumeter uses a magnetic ring and a wristband with mangetometers to detect wrist and finger movement rather than gross arm movement. We describe 1) the inference of wrist and finger movement from differential magnetometer readings using a radial basis function network, 2) initial testing in which distance traveled estimates were within 94.7%±19.3 of their goniometricly measured values, 3) experiments with non-impaired participants in which the manumeter detected some functional activities better than wrist accelerometry, and 4) improvements to the hardware and data processing that allow both subject-independent tracking of the position of the finger relative to the wrist (RMS errors < 1cm) and highly reliable detection of whether the hand is open or closed. Its performance and non-obtrusive design make the manumeter well suited for measuring and reinforcing impaired hand use in daily life after stroke. The contributions of this dissertation are experimental confirmation that high…

Subjects/Keywords: Robotics; accelerometry; magnetic sensing; Rehabilitation robotics; Stroke; wearable sensors

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APA (6^th Edition):

Rowe, J. B. (2015). Evaluating Robotic Assistance and Developing a Wearable Hand Activity Monitor to Improve Upper Extremity Movement Recovery after Stroke. (Thesis). University of California – Irvine. Retrieved from http://www.escholarship.org/uc/item/2gq5z12d

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Rowe, Justin B. “Evaluating Robotic Assistance and Developing a Wearable Hand Activity Monitor to Improve Upper Extremity Movement Recovery after Stroke.” 2015. Thesis, University of California – Irvine. Accessed March 08, 2021. http://www.escholarship.org/uc/item/2gq5z12d.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Rowe, Justin B. “Evaluating Robotic Assistance and Developing a Wearable Hand Activity Monitor to Improve Upper Extremity Movement Recovery after Stroke.” 2015. Web. 08 Mar 2021.

Vancouver:

Rowe JB. Evaluating Robotic Assistance and Developing a Wearable Hand Activity Monitor to Improve Upper Extremity Movement Recovery after Stroke. [Internet] [Thesis]. University of California – Irvine; 2015. [cited 2021 Mar 08]. Available from: http://www.escholarship.org/uc/item/2gq5z12d.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Rowe JB. Evaluating Robotic Assistance and Developing a Wearable Hand Activity Monitor to Improve Upper Extremity Movement Recovery after Stroke. [Thesis]. University of California – Irvine; 2015. Available from: http://www.escholarship.org/uc/item/2gq5z12d

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of California – Berkeley

21. Bae, Joonbum. Mechatronic Considerations of Assistive Systems for Gait Rehabilitation.

Degree: Mechanical Engineering, 2011, University of California – Berkeley

URL: http://www.escholarship.org/uc/item/0499n3fv

► As the number of patients requiring gait rehabilitation treatments is increasing, assistive systems for gait rehabilitation are being actively investigated. Assistive systems enable more efficient… (more)

▼ As the number of patients requiring gait rehabilitation treatments is increasing, assistive systems for gait rehabilitation are being actively investigated. Assistive systems enable more efficient rehabilitation by providing objective values for indicating the patient's status and assistive torque for practicing normal trajectories for rehabilitation. This thesis investigates several mechatronic technologies of assistive systems for gait rehabilitation, including (1) estimation and evaluation of the patient's status, (2) monitoring systems, (3) control of assistive systems, and (4) implementation of rehabilitation algorithms.Estimation and evaluation of a patient's status based on pertinent measurements is the first step toward determining appropriate rehabilitation intervention methods. This thesis introduces an algorithm that estimates gait phases using a hidden Markov model (HMM) based on ground reaction forces (GRFs) measured by force sensors embedded in shoes, called Smart Shoes. The GRFs and the center of the GRFs (CoGRF) are used for observing the patient's status, and gait abnormality is calculated based on deviations from healthy GRF levels. This information is supplied to the monitoring system, which is implemented as a mobile system and a tele-system using the Internet. Assistive torque is required for seriously impaired patients to achieve the desired motion or practice normal trajectories. Ideal force mode control is necessary for natural interactions between the assistive system and the patient. In this thesis, robust control algorithms for precise and safe generation of the desired torque are discussed. The proposed algorithms have been applied to the previously developed assistive systems such as a rotary series elastic actuator (RSEA), a compact rotary series elastic actuator (cRSEA), and a cable-driven assistive system. As a decision-making process for rehabilitation, both a power augmentation method and a rehabilitation method are discussed. For the power augmentation method, the joint torque of the lower extremities is estimated using a human model with seven links and four different ground contact conditions. For gait rehabilitation, a potential field around the desired trajectory and an iterative learning algorithm inspired by repetitive gait motions are proposed for determining the desired assistive torque. The proposed methods have been verified experimentally, including clinical tests using actual patients.

Subjects/Keywords: Mechanical Engineering; Biomechanics; Robotics; Assistive system; Biomechanics; Mechatronics; Rehabilitation; Robotics

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APA (6^th Edition):

Bae, J. (2011). Mechatronic Considerations of Assistive Systems for Gait Rehabilitation. (Thesis). University of California – Berkeley. Retrieved from http://www.escholarship.org/uc/item/0499n3fv

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Bae, Joonbum. “Mechatronic Considerations of Assistive Systems for Gait Rehabilitation.” 2011. Thesis, University of California – Berkeley. Accessed March 08, 2021. http://www.escholarship.org/uc/item/0499n3fv.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Bae, Joonbum. “Mechatronic Considerations of Assistive Systems for Gait Rehabilitation.” 2011. Web. 08 Mar 2021.

Vancouver:

Bae J. Mechatronic Considerations of Assistive Systems for Gait Rehabilitation. [Internet] [Thesis]. University of California – Berkeley; 2011. [cited 2021 Mar 08]. Available from: http://www.escholarship.org/uc/item/0499n3fv.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Bae J. Mechatronic Considerations of Assistive Systems for Gait Rehabilitation. [Thesis]. University of California – Berkeley; 2011. Available from: http://www.escholarship.org/uc/item/0499n3fv

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

22. Lawson, Brian Edward. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.

Degree: PhD, Mechanical Engineering, 2014, Vanderbilt University

URL: http://hdl.handle.net/1803/12271

► This dissertation describes the development and testing of control systems for powered transfemoral prostheses. The work is divided into seven chapters, with five distinct contributions.… (more)

Subjects/Keywords: Transfemoral; Robotics; Powered Prosthesis; Mechatronics; Amputation; Rehabilitation Robotics

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APA (6^th Edition):

Lawson, B. E. (2014). Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12271

Chicago Manual of Style (16^th Edition):

Lawson, Brian Edward. “Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed March 08, 2021. http://hdl.handle.net/1803/12271.

MLA Handbook (7^th Edition):

Lawson, Brian Edward. “Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.” 2014. Web. 08 Mar 2021.

Vancouver:

Lawson BE. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1803/12271.

Council of Science Editors:

Lawson BE. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/12271

23. Schabowsky, Christopher Norton. Robot-Assisted Hand Movement Therapy after Stroke.

Degree: PhD, Biomedical Engineering, 2010, The Catholic University of America

URL: http://hdl.handle.net/1961/9227

►

Degree awarded: Ph.D. Biomedical Engineering. The Catholic University of America

Robot-Assisted Hand Movement Therapy after Stroke Christopher N. Schabowsky, Ph.D.Director: Peter S. Lum, Ph.D.After therapy… (more)

▼

Degree awarded: Ph.D. Biomedical Engineering. The Catholic University of America

Robot-Assisted Hand Movement Therapy after Stroke Christopher N. Schabowsky, Ph.D.Director: Peter S. Lum, Ph.D.After therapy intervention, the majority of stroke survivors are left with a poorly functioning hemiparetic hand. Rehabilitation robotics has shown great promise in providing patients with intensive activity-based therapy leading to functional gains. Because of its crucial role in performing activities of daily living, attention to hand therapy has recently increased. This thesis introduces a newly developed Hand Exoskeleton Rehabilitation Robot (HEXORR). This device has been designed to provide full range of motion (ROM) for all of the hand's digits. The thumb actuator allows for variable thumb plane of motion to incorporate different degrees of extension/flexion and abduction/adduction. Compensation algorithms have been developed to improve the exoskeleton's backdrivability by counteracting gravity, stiction and kinetic friction. A force assistance mode has also been designed to provide extension assistance based on each individual's needs. A pilot study was conducted to investigate the device's ability to allow physiologically accurate hand movements throughout the full ROM. The study also tested the efficacy of the force assistance mode with the goal of increasing stroke subjects' active ROM while still requiring active extension movements. The initial stages of a clinical trial providing hand therapy to stroke patients are also discussed.For 12 of the hand digits' 15 joints, there were no significant ROM differences between active extension movements performed inside and outside of HEXORR. For the 1st and 3rd digits, the slopes of joint-pair extension trajectories were no different inside and outside of the device. Stroke subjects were capable of performing hand movements inside of the exoskeleton and the force assistance mode was successful in increasing active ROM by 43% and 22% for the fingers and thumb, respectively. For both subjects, finger and thumb active ROM increased after the conclusion of therapy using HEXORR.Our pilot study shows that this device is capable of moving the hand's digits through the entire ROM with physiologically accurate trajectories. Stroke subjects received the device intervention well and were able to actively extend and flex their digits inside of HEXORR. Our active-assisted condition was successful in increasing the subjects' ROM while generally promoting active participation.

Made available in DSpace on 2011-02-24T20:49:10Z (GMT). No. of bitstreams: 1 Schabowsky_cua_0043A_10075display.pdf: 2383517 bytes, checksum: dd3f90b196014552d16bc5f7acfee55a (MD5)

Advisors/Committee Members: Lum, Peter S (Advisor), Judge, John A (Other), Yuan, Baohong (Other), Arozullah, Mohammad (Other), Matthews, Scott (Other).

Subjects/Keywords: Engineering, Biomedical; Engineering, Robotics; Hand; Motor Therapy; Rehabilitation; Robotics; Stroke

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Schabowsky, C. N. (2010). Robot-Assisted Hand Movement Therapy after Stroke. (Doctoral Dissertation). The Catholic University of America. Retrieved from http://hdl.handle.net/1961/9227

Chicago Manual of Style (16^th Edition):

Schabowsky, Christopher Norton. “Robot-Assisted Hand Movement Therapy after Stroke.” 2010. Doctoral Dissertation, The Catholic University of America. Accessed March 08, 2021. http://hdl.handle.net/1961/9227.

MLA Handbook (7^th Edition):

Schabowsky, Christopher Norton. “Robot-Assisted Hand Movement Therapy after Stroke.” 2010. Web. 08 Mar 2021.

Vancouver:

Schabowsky CN. Robot-Assisted Hand Movement Therapy after Stroke. [Internet] [Doctoral dissertation]. The Catholic University of America; 2010. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1961/9227.

Council of Science Editors:

Schabowsky CN. Robot-Assisted Hand Movement Therapy after Stroke. [Doctoral Dissertation]. The Catholic University of America; 2010. Available from: http://hdl.handle.net/1961/9227

Rice University

24. Pezent, Evan. Design, Characterization, and Validation of the OpenWrist Exoskeleton.

Degree: MS, Engineering, 2017, Rice University

URL: http://hdl.handle.net/1911/96129

► Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated… (more)

Subjects/Keywords: robot; robotics; exoskeleton; wrist; hand; rehabilitation; stroke; spinal; cord; injury; robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Pezent, E. (2017). Design, Characterization, and Validation of the OpenWrist Exoskeleton. (Masters Thesis). Rice University. Retrieved from http://hdl.handle.net/1911/96129

Chicago Manual of Style (16^th Edition):

Pezent, Evan. “Design, Characterization, and Validation of the OpenWrist Exoskeleton.” 2017. Masters Thesis, Rice University. Accessed March 08, 2021. http://hdl.handle.net/1911/96129.

MLA Handbook (7^th Edition):

Pezent, Evan. “Design, Characterization, and Validation of the OpenWrist Exoskeleton.” 2017. Web. 08 Mar 2021.

Vancouver:

Pezent E. Design, Characterization, and Validation of the OpenWrist Exoskeleton. [Internet] [Masters thesis]. Rice University; 2017. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1911/96129.

Council of Science Editors:

Pezent E. Design, Characterization, and Validation of the OpenWrist Exoskeleton. [Masters Thesis]. Rice University; 2017. Available from: http://hdl.handle.net/1911/96129

Rice University

25. McDonald, Craig G. Myoelectric Sensing for Intent Detection and Assessment in Upper-Limb Robotic Rehabilitation.

Degree: PhD, Engineering, 2020, Rice University

URL: http://hdl.handle.net/1911/108419

► This thesis explores how surface electromyography (EMG) – the measurement of muscle force through voltage changes at the skin surface – can be of use… (more)

▼ This thesis explores how surface electromyography (EMG) – the measurement of muscle force through voltage changes at the skin surface – can be of use to the field of upper-limb robotic rehabilitation. We focus on two main aspects: detecting human intention from measured muscle activity and assessing human motor coordination through synchronous muscle activations known as muscle synergies – each examples of the bidirectional communication found in tightly integrated human-robot interaction. EMG-based intent detection presents an opportunity to examine and promote human engagement at the neuromuscular level, enabling new protocols for intervention that could be combined with robotic rehabilitation, particularly for the most impaired of users. Meanwhile, the latest research in motor control proposes that natural, healthy human movement can be characterized by the presence of certain muscle synergies, and that the alteration of these synergies indicates a disruption, from neurological impairment or some other physical constraints, in natural movement. Wearable robotic devices are capable of altering muscle synergies, and though the mechanisms are not yet understood, a focus on altering muscle synergies is a promising new approach to neurorehabilitation. This thesis employs a robotic exoskeleton for the elbow and wrist joints designed for research in robotic rehabilitation of individuals with neurological impairments and now integrated with a myoelectric control interface. We first demonstrate the ability of a myoelectric interface to discern the user’s intended direction of motion in single-degree-of-freedom (DoF) and multi-DoF control modes with 10 able-bodied participants and 4 participants with incomplete cervical spinal cord injury (SCI). Predictive accuracy was high for able-bodied participants (averages over 99% for single-DoF and near 90% for multi-DoF), and performance in the SCI group was promising (averages ranging from 85% to 95% for single-DoF, and variable multi-DoF performance averaging around 60%), which is encouraging for the future use of myoelectric interfaces in robotic rehabilitation for SCI. Second, we explore the identification of synchronous muscle synergies in the muscles controlling the elbow and wrist, and the possible effects of robot-imposed task constraints on the neural constrains represented by synergy patterns. Our results indicate that constraining the unused degrees of freedom during a single-DoF movement inside the exoskeleton does not have a significant effect on the underlying muscle synergies in the task, and that methodological choices in muscle synergy analysis also do not have a large effect on the outcome. With all of these findings, we have achieved a deeper understanding of the value myoelectric sensing can bring to upper-limb robotic rehabilitation, and how much potential it has to advance the field toward greater accessibility to individuals of all levels of impairment. Advisors/Committee Members: O'Malley, Marcia K (advisor).

Subjects/Keywords: electromyography; robotics; rehabilitation robotics; muscle synergy analysis; intent detection

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

McDonald, C. G. (2020). Myoelectric Sensing for Intent Detection and Assessment in Upper-Limb Robotic Rehabilitation. (Doctoral Dissertation). Rice University. Retrieved from http://hdl.handle.net/1911/108419

Chicago Manual of Style (16^th Edition):

McDonald, Craig G. “Myoelectric Sensing for Intent Detection and Assessment in Upper-Limb Robotic Rehabilitation.” 2020. Doctoral Dissertation, Rice University. Accessed March 08, 2021. http://hdl.handle.net/1911/108419.

MLA Handbook (7^th Edition):

McDonald, Craig G. “Myoelectric Sensing for Intent Detection and Assessment in Upper-Limb Robotic Rehabilitation.” 2020. Web. 08 Mar 2021.

Vancouver:

McDonald CG. Myoelectric Sensing for Intent Detection and Assessment in Upper-Limb Robotic Rehabilitation. [Internet] [Doctoral dissertation]. Rice University; 2020. [cited 2021 Mar 08]. Available from: http://hdl.handle.net/1911/108419.

Council of Science Editors:

McDonald CG. Myoelectric Sensing for Intent Detection and Assessment in Upper-Limb Robotic Rehabilitation. [Doctoral Dissertation]. Rice University; 2020. Available from: http://hdl.handle.net/1911/108419

University of South Florida

26. Pathirage, Don Indika Upashantha. A Brain Robot Interface for Autonomous Activities of Daily Living Tasks.

Degree: 2014, University of South Florida

URL: https://scholarcommons.usf.edu/etd/5292

► There have been substantial improvements in the area of rehabilitation robotics in the recent past. However, these advances are inaccessible to a large number of… (more)

▼ There have been substantial improvements in the area of rehabilitation robotics in the recent past. However, these advances are inaccessible to a large number of people with disabilities who are in most need of such assistance. This group includes people who are in a severely paralyzed state, that they are completely "locked-in" in their own bodies. Such persons usually retain full cognitive abilities, but have no voluntary muscle control. For these persons, a Brain Computer Interface (BCI) is often the only way to communicate with the outside world and/or control an assistive device. One major drawback to BCI devices is their low information transfer rate, which can take as long as 30 seconds to select a single command. This can result in mental fatigue to the user, specially if it necessary to make multiple selections over the BCI to complete a single task. Therefore, P300 based BCI control is not efficient for controlling a assistive robotic device such as a robotic arm. To address this shortcoming, a novel vision based Brain Robot Interface (BRI) is presented in this thesis. This visual user interface allows for selecting an object from an unstructured environment and then performing an action on the selected object using a robotic arm mounted to a power wheelchair. As issuing commands through BCI is slow, this system was designed to allow a user to perform a complete task via a BCI using an autonomous robotic system while issuing as few commands as possible. Furthermore, the new visual interface allows the user to perform the task without losing concentration on the stimuli or the task. In our interface, a scene image is captured by a camera mounted on the wheelchair, from which, a dynamically sized non-uniform stimulus grid is created using edge information. Dynamically sized grids improve object selection efficiency. Oddball paradigm and P300 Event Related Potentials (ERP) are used to select stimuli, where the stimuli being each cell in the grid. Once selected, object segmentation and matching is used to identify the object. Then the user, using BRI, chooses an action to be performed on the object by the wheelchair mounted robotic arm (WMRA). Tests on 8 healthy human subjects validated the functionality of the system. An average accuracy of 85.56% was achieved for stimuli selection over all subjects. With the proposed system, it took the users an average of 5 commands to perform a task on an object. The system will eventually be useful for completely paralyzed or locked-in patients for performing activities of daily living (ADL) tasks.

Subjects/Keywords: Assistive Robotics; Brain Computer Interface; Object Selection; Rehabilitation Robotics; Task Level Control; Computer Engineering; Robotics

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APA (6^th Edition):

Pathirage, D. I. U. (2014). A Brain Robot Interface for Autonomous Activities of Daily Living Tasks. (Thesis). University of South Florida. Retrieved from https://scholarcommons.usf.edu/etd/5292

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Pathirage, Don Indika Upashantha. “A Brain Robot Interface for Autonomous Activities of Daily Living Tasks.” 2014. Thesis, University of South Florida. Accessed March 08, 2021. https://scholarcommons.usf.edu/etd/5292.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Pathirage, Don Indika Upashantha. “A Brain Robot Interface for Autonomous Activities of Daily Living Tasks.” 2014. Web. 08 Mar 2021.

Vancouver:

Pathirage DIU. A Brain Robot Interface for Autonomous Activities of Daily Living Tasks. [Internet] [Thesis]. University of South Florida; 2014. [cited 2021 Mar 08]. Available from: https://scholarcommons.usf.edu/etd/5292.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Pathirage DIU. A Brain Robot Interface for Autonomous Activities of Daily Living Tasks. [Thesis]. University of South Florida; 2014. Available from: https://scholarcommons.usf.edu/etd/5292

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

27. Gonçalves, Ana Carolina Barbosa Faria. Análise da usabilidade de um dispositivo robótico desenvolvido para reabilitação de tornozelo em indivíduos hemiparéticos pós acidente vascular encefálico.

Degree: Mestrado, Dinâmica das Máquinas e Sistemas, 2013, University of São Paulo

URL: http://www.teses.usp.br/teses/disponiveis/18/18149/tde-02102013-164801/ ;

►

As doenças cerebrovasculares, incluindo o acidente vascular encefálico (AVE), são a segunda causa de morte no mundo, e o principal causador das incapacidades na população… (more)

▼

As doenças cerebrovasculares, incluindo o acidente vascular encefálico (AVE), são a segunda causa de morte no mundo, e o principal causador das incapacidades na população adulta. Devido à reorganização cortical, quanto mais precoce a reabilitação é realizada, melhores são os resultados. Desta forma, novos tratamentos e soluções tecnológicas foram desenvolvidos para enfrentar os desafios da reabilitação pós AVE, por exemplo, aumento da intensidade e duração da terapia incluindo manipulação externa, treinamento do movimento bilateral, e reabilitação robótica. Os dispositivos robóticos possibilitam a realização de tarefas específicas repetidas vezes, de forma controlada e confiável, fator determinante para a facilitação da reorganização cortical, com aumento da habilidade motora e melhora do desempenho das atividades funcionais. O objetivo principal deste trabalho foi verificar a adequação e usabilidade da Plataforma Robótica de Reabilitação de Tornozelo - PRRT em indivíduos que precisam de reabilitação de tornozelo decorrente de sequela de AVE, a fim de realizar eventuais ajustes antes que o equipamento seja incorporado na prática clínica. A metodologia consistiu em verificar a adequação ergonômica e técnica do equipamento, e avaliar a satisfação do usuário após o seu uso por meio de questionário. O aparelho foi avaliado tanto em pacientes com déficit motor de hemiparesia, como em indivíduos sem deficiências. Os resultados experimentais mostram que o equipamento é adequado como um recurso auxiliar na avaliação da amplitude de movimento articular do tornozelo e da força muscular, beneficiando os terapeutas na avaliação dos ganhos reais obtidos com as terapias. A partir das respostas ao questionário, verifica-se que os indivíduos sentiram-se satisfeitos com o recurso. Portanto, conclui-se que a PRRT é um recurso auxiliar promissor no tratamento do tornozelo de indivíduos que sofreram lesão neurológica, podendo trazer benefícios em relação à amplitude de movimento e ganho de força, além de proporcionar uma terapia prazerosa e estimulante aos pacientes.

Cerebrovascular diseases, including stroke, are the second leading cause of death worldwide and the leading cause of disability in the adult population. Due to cortical reorganization, the earlier rehabilitation is performed, the better the results. In this way, new treatments and technological solutions were developed to meet the challenges of rehabilitation after stroke, for example, increase of intensity and duration of therapy including external manipulation, bilateral movement training, and rehabilitation robotics. Robotic devices allow performing specific tasks repeatedly in a controlled and reliable way, a key factor for cortical reorganization, with increase of motor skills and improvement of functional activities performance. The main objective of this work was to verify the adequacy and usability of the Robotic Platform for Ankle Rehabilitation in post-stroke patients who need ankle rehabilitation, in order to make any necessary adjustments before the equipment…

Advisors/Committee Members: Siqueira, Adriano Almeida Gonçalves.

Subjects/Keywords: Ankle rehabilitation; Hemiparesia; Hemiparesis; Reabilitação do tornozelo; Reabilitação robótica; Rehabilitation robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Gonçalves, A. C. B. F. (2013). Análise da usabilidade de um dispositivo robótico desenvolvido para reabilitação de tornozelo em indivíduos hemiparéticos pós acidente vascular encefálico. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/18/18149/tde-02102013-164801/ ;

Chicago Manual of Style (16^th Edition):

Gonçalves, Ana Carolina Barbosa Faria. “Análise da usabilidade de um dispositivo robótico desenvolvido para reabilitação de tornozelo em indivíduos hemiparéticos pós acidente vascular encefálico.” 2013. Masters Thesis, University of São Paulo. Accessed March 08, 2021. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-02102013-164801/ ;.

MLA Handbook (7^th Edition):

Gonçalves, Ana Carolina Barbosa Faria. “Análise da usabilidade de um dispositivo robótico desenvolvido para reabilitação de tornozelo em indivíduos hemiparéticos pós acidente vascular encefálico.” 2013. Web. 08 Mar 2021.

Vancouver:

Gonçalves ACBF. Análise da usabilidade de um dispositivo robótico desenvolvido para reabilitação de tornozelo em indivíduos hemiparéticos pós acidente vascular encefálico. [Internet] [Masters thesis]. University of São Paulo; 2013. [cited 2021 Mar 08]. Available from: http://www.teses.usp.br/teses/disponiveis/18/18149/tde-02102013-164801/ ;.

Council of Science Editors:

Gonçalves ACBF. Análise da usabilidade de um dispositivo robótico desenvolvido para reabilitação de tornozelo em indivíduos hemiparéticos pós acidente vascular encefálico. [Masters Thesis]. University of São Paulo; 2013. Available from: http://www.teses.usp.br/teses/disponiveis/18/18149/tde-02102013-164801/ ;

Columbia University

28. Kang, Jiyeon. Robotic Functional Gait Rehabilitation with Tethered Pelvic Assist Device.

Degree: 2018, Columbia University

URL: https://doi.org/10.7916/D8C83N6W

► The primary goal of human locomotion is to stably translate the center of mass (CoM) over the ground with minimum expenditure of energy. Pelvic movement… (more)

▼ The primary goal of human locomotion is to stably translate the center of mass (CoM) over the ground with minimum expenditure of energy. Pelvic movement is crucial for walking because the human CoM is located close to the pelvic center. Because of this anatomical feature, pelvic motion directly contributes to the metabolic expenditure, as well as in the balance to keep the center of mass between the legs. An abnormal pelvic motion during the gait not only causes overexertion, but also adversely affects the motion of the trunk and lower limbs. In order to study different interventions, recently a cable-actuated robotic system called Tethered Pelvic Assist Device (TPAD) was developed at ROAR laboratory at Columbia University. The cable-actuated system has a distinct advantage of applying three dimensional forces on the pelvis at discrete points in the gait cycle in contrast to rigid exoskeletons that restrict natural pelvic motion and add extra inertia from the rigid linkages. However, in order to effectively use TPAD for rehabilitation purposes, we still need to have a better understanding of how human gait is affected by different forces applied by TPAD on the pelvis. In the present dissertation, three different control methodologies for TPAD are discussed by performing human experiments with healthy subjects and patients with gait deficits. Moreover, the corresponding changes in the biomechanics during TPAD training are studied to understand how TPAD mechanistically influences the quality of the human gait. In Chapter 2, an ‘assist-as-needed’ controller is implemented to guide and correct the pelvic motion in three dimensions. Here, TPAD applies the correction force based on the deviation of the current position of the pelvic center from a pre-defined target trajectory. This force acts on the pelvic center to guide it towards the target trajectory. A subject in the device experiences a force field, where the magnitude becomes larger when the subject deviates further away from the target trajectory. This control strategy is tested by performing the experiments on healthy subjects with different target pelvic trajectories. Chapter 3 describes a robotic resistive training study using a continuous force on the pelvis to strengthen the weak limbs so that subjects can improve their walking. This study is designed to improve the abnormal gait of children with Cerebral Palsy (CP) who have a crouch gait. Crouch gait is caused by a combination of weak extensor muscles that do not produce adequate muscle forces to keep the posture upright, coupled with contraction of muscles that limit the joint range of motion. Among the extensor muscles, the soleus muscle acts as the major weight-bearing muscle to prevent the knees from collapsing forward during the middle of the stance phase when the foot is on the ground. Electromyography, kinematics, and clinical measurements of the patients with crouch gait show significant improvements in the gait quality after the resistive TPAD training performed over five weeks. …

Subjects/Keywords: Robotics; Mechanical engineering; Gait disorders; Cerebral palsied children – Rehabilitation; Rehabilitation technology

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Kang, J. (2018). Robotic Functional Gait Rehabilitation with Tethered Pelvic Assist Device. (Doctoral Dissertation). Columbia University. Retrieved from https://doi.org/10.7916/D8C83N6W

Chicago Manual of Style (16^th Edition):

Kang, Jiyeon. “Robotic Functional Gait Rehabilitation with Tethered Pelvic Assist Device.” 2018. Doctoral Dissertation, Columbia University. Accessed March 08, 2021. https://doi.org/10.7916/D8C83N6W.

MLA Handbook (7^th Edition):

Kang, Jiyeon. “Robotic Functional Gait Rehabilitation with Tethered Pelvic Assist Device.” 2018. Web. 08 Mar 2021.

Vancouver:

Kang J. Robotic Functional Gait Rehabilitation with Tethered Pelvic Assist Device. [Internet] [Doctoral dissertation]. Columbia University; 2018. [cited 2021 Mar 08]. Available from: https://doi.org/10.7916/D8C83N6W.

Council of Science Editors:

Kang J. Robotic Functional Gait Rehabilitation with Tethered Pelvic Assist Device. [Doctoral Dissertation]. Columbia University; 2018. Available from: https://doi.org/10.7916/D8C83N6W

University of California – Berkeley

29. Tung, Wayne Yi-Wei. DESIGN AND OPERATION OF MINIMALLY ACTUATED MEDICAL EXOSKELETONS FOR INDIVIDUALS WITH PARALYSIS.

Degree: Mechanical Engineering, 2013, University of California – Berkeley

URL: http://www.escholarship.org/uc/item/0p24g6v0

► Powered lower-extremity exoskeletons have traditionally used four to ten powered degrees of freedom to provide ambulation assistance for individuals with spinal cord injury. Systems with… (more)

▼ Powered lower-extremity exoskeletons have traditionally used four to ten powered degrees of freedom to provide ambulation assistance for individuals with spinal cord injury. Systems with numerous high-impedance powered degrees of freedom commonly suffer from cumbersome walking dynamics and decreased utility due to added weight and increased control complexity. This work proposes a new approach to powered exoskeleton design that minimizes actuation and control complexity through embedding intelligence into the hardware. Two novel, minimally actuated exoskeleton systems (the Austin and the Ryan) are presented in this dissertation. Unlike conventional powered exoskeletons, the presented devices use a single motor for each exoskeleton leg in conjunction with a unique hip-knee coupling system to enable their users to walk, sit, and stand. The two types of joint coupling systems used are as follows.The Austin Exoskeleton employs a bio-inspired mechanical joint coupling system designed to mimic the biarticular coupling of human leg muscles. This system allows a single actuator to power both hip and knee motions simultaneously. More specifically, when the mechanical hamstring and rectus femoris of the exoskeleton are activated, power from the hip actuator is transferred to the knee, generating synchronized hip-knee flexion and extension. The coupling mechanism is switched on and off at specific phases of the gait (and the sit-stand cycle) to generate the desired joint trajectories. The device has been proven to be successful in assisting a complete T12 paraplegic subject to walk, sit, and stand.The Ryan Exoskeleton (also called the Passive Knee Exoskeleton) uses dynamic joint coupling. Dynamic joint coupling refers to a method of generating knee rotation through deliberate swinging of the hip joint. This minimalistic system is the first powered exoskeleton that weighs less than 20 pounds and has a compact form factor that more closely resembles a reciprocating gait orthosis than a conventional exoskeleton. The Passive Knee Exoskeleton has been validated by several SCI test pilots with injury levels ranging from T5 to T12. The lightweight, ambulation-centric assistive device have been tested to be able to comfortably reach an average ambulation speed of 0.27 m/s and have demonstrated high levels of maneuverability. The dynamic joint coupling paradigm has been proven to be effective especially for newly injured individuals who have not yet developed significant amounts of joint contracture or sustain high levels of spasticity. Overall, this dissertation focuses on the design and operation of the Austin and Ryan Exoskeletons.

Subjects/Keywords: Robotics; Mechanical engineering; Exoskeleton; Gait Analysis; Legged Locomotion; Medical Robotics; Patient Rehabilitation; Spinal Cord Injury

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Tung, W. Y. (2013). DESIGN AND OPERATION OF MINIMALLY ACTUATED MEDICAL EXOSKELETONS FOR INDIVIDUALS WITH PARALYSIS. (Thesis). University of California – Berkeley. Retrieved from http://www.escholarship.org/uc/item/0p24g6v0

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tung, Wayne Yi-Wei. “DESIGN AND OPERATION OF MINIMALLY ACTUATED MEDICAL EXOSKELETONS FOR INDIVIDUALS WITH PARALYSIS.” 2013. Thesis, University of California – Berkeley. Accessed March 08, 2021. http://www.escholarship.org/uc/item/0p24g6v0.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tung, Wayne Yi-Wei. “DESIGN AND OPERATION OF MINIMALLY ACTUATED MEDICAL EXOSKELETONS FOR INDIVIDUALS WITH PARALYSIS.” 2013. Web. 08 Mar 2021.

Vancouver:

Tung WY. DESIGN AND OPERATION OF MINIMALLY ACTUATED MEDICAL EXOSKELETONS FOR INDIVIDUALS WITH PARALYSIS. [Internet] [Thesis]. University of California – Berkeley; 2013. [cited 2021 Mar 08]. Available from: http://www.escholarship.org/uc/item/0p24g6v0.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tung WY. DESIGN AND OPERATION OF MINIMALLY ACTUATED MEDICAL EXOSKELETONS FOR INDIVIDUALS WITH PARALYSIS. [Thesis]. University of California – Berkeley; 2013. Available from: http://www.escholarship.org/uc/item/0p24g6v0

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

UCLA

30. Shen, Yang. Control and Dynamic Manipulability of a Dual-Arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality.

Degree: Mechanical Engineering, 2019, UCLA

URL: http://www.escholarship.org/uc/item/12k313g8

► Every year there are about 800,000 new stroke patients in the US, and many of them suffer from upper limb neuromuscular disabilities including but not… (more)

▼ Every year there are about 800,000 new stroke patients in the US, and many of them suffer from upper limb neuromuscular disabilities including but not limited to: weakness, spasticity and abnormal synergy. Patients usually have the potential to rehabilitate (to some extent) based on neuroplasticity, and physical therapy intervention helps accelerate the recovery. However, many patients could not afford the expensive physical therapy after the onset of stroke, and miss the opportunity to get recovered. Robot-assisted rehabilitation thus might be the solution, with the following unparalleled advantages: (1) 24/7 capability of human arm gravity compensation; (2) multi-joint movement coordination/correction, which could not be easily done by human physical therapists; (3) dual-arm training, either coupled in joint space or task space; (4) quantitative platform for giving instructions, providing assistance, exerting resistance, and collecting real-time data in kinematics, dynamics and biomechanics; (5) potential training protocol personalization; etc.However, in the rehabilitation robotics field, there are still many open problems. I am especially interested in: (1) compliant control, in high-dimensional multi-joint coordination condition; (2) assist-as-needed (AAN) control, in quantitative model-based approach and model-free approach; (3) dual-arm training, in both symmetric and asymmetric modes; (4) system integration, e.g., virtual reality (VR) serious games and graphical user interfaces (GUIs) design and development.Our dual-arm/hand robotic exoskeleton system, EXO-UL8, is in its 4th generation, with seven (7) arm degrees-of-freedom (DOFs) and one (1) DOF hand gripper enabling hand opening and closing on each side. While developing features on this research platform, I contributed to the robotics research field in the following aspects:(1) I designed and developed a series of eighteen (18) serious VR games and GUIs that could be used for interactive post-stroke rehabilitation training. The VR environment, together with the exoskeleton robot, provides patients and physical therapists a quantitative rehabilitation training platform with capability in real-time human performance data collection and analysis.(2) To provide better compliant control, my colleagues and I proposed and implemented two new admittance controllers, based on the work done by previous research group alumni. Both the hyper parameter-based and Kalman Filter-based admittance controllers have satisfactory heuristic performance, and the latter is more promising in future adaptation. Unlike many other upper-limb exoskeletons, our current system utilizes force and torque (F/T) sensors and position encoders only, no surface electromyography (sEMG) signals are used. It brings convenience to practical use, as well as technical challenges.(3) To provide better AAN control, which is still not well understood in the academia, I worked out a redundant version of modified dynamic manipulability ellipsoid (DME) model to propose an Arm Postural Stability Index…

Subjects/Keywords: Robotics; Mechanical engineering; Control; Exoskeleton; Manipulability; Robotics; Stroke Rehabilitation; Upper Limb Training

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APA (6^th Edition):

Shen, Y. (2019). Control and Dynamic Manipulability of a Dual-Arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality. (Thesis). UCLA. Retrieved from http://www.escholarship.org/uc/item/12k313g8

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Shen, Yang. “Control and Dynamic Manipulability of a Dual-Arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality.” 2019. Thesis, UCLA. Accessed March 08, 2021. http://www.escholarship.org/uc/item/12k313g8.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Shen, Yang. “Control and Dynamic Manipulability of a Dual-Arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality.” 2019. Web. 08 Mar 2021.

Vancouver:

Shen Y. Control and Dynamic Manipulability of a Dual-Arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality. [Internet] [Thesis]. UCLA; 2019. [cited 2021 Mar 08]. Available from: http://www.escholarship.org/uc/item/12k313g8.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Shen Y. Control and Dynamic Manipulability of a Dual-Arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality. [Thesis]. UCLA; 2019. Available from: http://www.escholarship.org/uc/item/12k313g8

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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