ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

Saraç, Mine; Ergin, Mehmet Alper; Patoğlu, Volkan

doi:10.1109/whc.2013.6548422

Cited by 9 publications

(7 citation statements)

References 22 publications

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“…ii. Rehabilitation Robot: To administer robot assisted therapies a mobile rehabilitation robot with unlimited planar workspace, ASSISTON-MOBILE [22] is used. ASSISTON-MOBILE is an active holonomic mobile platform based multi-DoF series elastic actuator designed to administer therapeutic table-top exercises to patients.…”

Section: Bci-based Robotic Rehabilitation Systemmentioning

confidence: 99%

Brain Computer Interface based robotic rehabilitation with online modification of task speed

Saraç

Koyaş

Erdoğan

et al. 2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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We present a systematic approach that enables online modification/adaptation of robot assisted rehabilitation exercises by continuously monitoring intention levels of patients utilizing an electroencephalogram (EEG) based Brain-Computer Interface (BCI). In particular, we use Linear Discriminant Analysis (LDA) to classify event-related synchronization (ERS) and desynchronization (ERD) patterns associated with motor imagery; however, instead of providing a binary classification output, we utilize posterior probabilities extracted from LDA classifier as the continuous-valued outputs to control a rehabilitation robot. Passive velocity field control (PVFC) is used as the underlying robot controller to map instantaneous levels of motor imagery during the movement to the speed of contour following tasks. In other words, PVFC changes the speed of contour following tasks with respect to intention levels of motor imagery. PVFC also allows decoupling of the task and the speed of the task from each other, and ensures coupled stability of the overall robot patient system. The proposed framework is implemented on AssistOn-Mobile--a series elastic actuator based on a holonomic mobile platform, and feasibility studies with healthy volunteers have been conducted test effectiveness of the proposed approach. Giving patients online control over the speed of the task, the proposed approach ensures active involvement of patients throughout exercise routines and has the potential to increase the efficacy of robot assisted therapies.

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Section: Bci-based Robotic Rehabilitation Systemmentioning

confidence: 99%

Brain Computer Interface based robotic rehabilitation with online modification of task speed

Saraç

Koyaş

Erdoğan

et al. 2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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“…Furthermore, it adds value to the research by presenting force controlled trajectories and rendering of virtual objects. In literature, such trajectories have been presented for upper extremity rehabilitation devices [44], however, they have not been presented for finger exoskeletons. The kinematics of the proposed exoskeleton comprises of three coupled closed chains similar to the exoskeleton presented by Agarwal et al [6,15] (used for research purposes only), however our designed exoskeleton is physically more robust as it houses torsional elastic element inside SEA shell (see Fig.…”

Section: Research Gapsmentioning

confidence: 99%

Design, modeling and control of an index finger exoskeleton for rehabilitation

et al. 2022

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With diverse areas of applications, wearable robotic exoskeleton devices have gained attention in the past decade. These devices cover one or more human limbs/joints and have been presented for rehabilitation, strength augmentation and interaction with virtual reality. This research is focused towards design, modeling and control of a novel series elastic actuation (SEA) based index finger exoskeleton with a targeted torque rendering capability of 0.3 Nm and a force control bandwidth of 3 Hz. The proposed design preserves the natural range of motion of the finger by incorporating five passive and two actively actuated joints and provides active control of metacarpophalangeal and proximal interphalangeal joints. Forward and inverse kinematics for both position and velocity have been solved using closed loop vector analysis by including human finger as an integral part of the system. For accurate force control, a cascaded control structure has been presented. Force controlled trajectories have been proposed to guide the finger along preprogrammed virtual paths. Such trajectories serve to gently guide the finger towards the correct rehabilitation protocol, thus acting as an effective replacement of intervention by a human therapist. Extensive computer simulations have been performed before fabricating a prototype and performing experimental validation. Results show accurate modeling and control of the proposed design.

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“…This challenge was partly addressed by Mobile Haptic Interfaces (such as [27,3,11,30] that are human-sized platforms and [1,35] that are relatively smaller desktop robots) that were not used in educational or collaborative computer-human interaction studies so far.…”

Section: Related Workmentioning

confidence: 99%

Windfield

Özgür

Johal

Mondada

et al. 2017

Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction

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This article presents a learning activity and its user study involving the Cellulo platform, a novel versatile robotic tool designed for education. In order to show the potential of Cellulo in the classroom as part of standard curricular activities, we designed a learning activity called Windfield that aims to teach the atmospheric formation mechanism of wind to early middle school children. The activity involves a didactic sequence, introducing the Cellulo robots as hot air balloons and enabling children to feel the wind force through haptic feedback. We present a user study, designed in the form of a real hour-long lesson, conducted with 24 children in 8 groups who had no prior knowledge in the subject. Collaborative metrics within groups and individual performances about the learning of key concepts were measured with only the hardware and software integrated in the platform in a completely automated manner. The results show that almost all participants showed learning of symmetric aspects of wind formation while about half showed learning of asymmetric vectorial aspects that are more complex.

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ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

Cited by 9 publications

References 22 publications

Brain Computer Interface based robotic rehabilitation with online modification of task speed

Brain Computer Interface based robotic rehabilitation with online modification of task speed

Design, modeling and control of an index finger exoskeleton for rehabilitation

Windfield

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