Estimation of Upper-Limb Energy Absorption Capabilities for Stable Human-Robot Interactions

Ramos, A.M.; Hashtrudi-Zaad, Keyvan

doi:10.1109/haptics45997.2020.ras.hap20.20.95bee409

Cited by 2 publications

(1 citation statement)

References 13 publications

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“…It is worth noticing that the use of mean values from EOP estimations of the same level reduces the effect of natural variability within a subject's arm dynamics [15]. Therefore, it is expected that estimates computed from a linear interpolation between the EOP values obtained at 5% and 80% may result in overestimation.…”

Section: Methodsmentioning

confidence: 99%

Estimation of Energy Absorption Capability of Arm Using Force Myography for Stable Human-Machine Interaction

Ramos

Hashtrudi-Zaad

2020

2020 42nd Annual International Conference of the IEEE Engineering in Medicine &Amp; Biology Society (EMBC)

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Human-robot interactions help in various industries and enhance the user experience in different ways. However, constant safety monitoring is needed in environments where human users are at risk, such as rehabilitation therapy, space exploration, or mining. One way to improve safety and performance in robotic tasks is to include biological information of the user in the control system. This can help regulate the energy that is delivered to the user. In this work, we estimate the energy absorbing capabilities of the human arm, using the metric Excess of Passivity (EOP). EOP data from healthy subjects were obtained based on Forcemyography of the subjects' arm, to expand the sources of biological information and improve estimations. Clinical relevance-This protocol can help determine the ability of rehabilitation patients to withstand robotic stimulation with high amplitudes of therapeutic forces, as needed in assistive therapy.

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Section: Methodsmentioning

confidence: 99%

Estimation of Energy Absorption Capability of Arm Using Force Myography for Stable Human-Machine Interaction

Ramos

Hashtrudi-Zaad

2020

2020 42nd Annual International Conference of the IEEE Engineering in Medicine &Amp; Biology Society (EMBC)

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Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities

et al. 2023

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Interest in home-based stroke rehabilitation mechatronics, which includes both robots and sensor mechanisms, has increased over the past 12 years. The COVID-19 pandemic has exacerbated the existing lack of access to rehabilitation for stroke survivors post-discharge. Home-based stroke rehabilitation devices could improve access to rehabilitation for stroke survivors, but the home environment presents unique challenges compared to clinics. The present study undertakes a scoping review of designs for at-home upper limb stroke rehabilitation mechatronic devices to identify important design principles and areas for improvement. Online databases were used to identify papers published 2010–2021 describing novel rehabilitation device designs, from which 59 publications were selected describing 38 unique designs. The devices were categorized and listed according to their target anatomy, possible therapy tasks, structure, and features. Twenty-two devices targeted proximal (shoulder and elbow) anatomy, 13 targeted distal (wrist and hand) anatomy, and three targeted the whole arm and hand. Devices with a greater number of actuators in the design were more expensive, with a small number of devices using a mix of actuated and unactuated degrees of freedom to target more complex anatomy while reducing the cost. Twenty-six of the device designs did not specify their target users’ function or impairment, nor did they specify a target therapy activity, task, or exercise. Twenty-three of the devices were capable of reaching tasks, 6 of which included grasping capabilities. Compliant structures were the most common approach of including safety features in the design. Only three devices were designed to detect compensation, or undesirable posture, during therapy activities. Six of the 38 device designs mention consulting stakeholders during the design process, only two of which consulted patients specifically. Without stakeholder involvement, these designs risk being disconnected from user needs and rehabilitation best practices. Devices that combine actuated and unactuated degrees of freedom allow a greater variety and complexity of tasks while not significantly increasing their cost. Future home-based upper limb stroke rehabilitation mechatronic designs should provide information on patient posture during task execution, design with specific patient capabilities and needs in mind, and clearly link the features of the design to users’ needs.

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Estimation of Upper-Limb Energy Absorption Capabilities for Stable Human-Robot Interactions

Cited by 2 publications

References 13 publications

Estimation of Energy Absorption Capability of Arm Using Force Myography for Stable Human-Machine Interaction

Estimation of Energy Absorption Capability of Arm Using Force Myography for Stable Human-Machine Interaction

Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities

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