Symmetry modes and stiffnesses for bimanual rehabilitation

McAmis, Samuel; Reed, Kyle B.

doi:10.1109/icorr.2011.5975508

Cited by 6 publications

(2 citation statements)

References 15 publications

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“…The preceding devices have shown bimanual rehabilitation to be effective, but each only utilized one symmetry mode. However, for healthy individuals, certain bimanual motions are easier to duplicate in one symmetry mode than another [28,29], indicating that the symmetry mode could affect bimianual rehabilitation efficacy. Additionally, these devices either used a rigid coupling, or no physical coupling between the hands.…”

Section: B Bimanual Rehabilitationmentioning

confidence: 99%

Effects of Compliant Coupling on Cooperative and Bimanual Task Performance

McAmis

Reed

2013

J. Rehabil. Rob.

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Coupled bimanual rehabilitation allows an individual with hemiparesis to use their sound arm to assist their impaired arm during rehabilitation. This method of self-rehabilitation could be used as a low-cost alternative for home rehabilitation, however, few studies have looked at the effects of coupling stiffness and symmetry mode on bimanual task performance. We have developed a compliant bimanual rehabilitation device (CBRD) that allows for the symmetry mode and stiffness of the coupling to be easily changed. Our results show the CBRD effectively couples the motions of two individuals in a task simulating hemiparesis, and that for some tasks, the symmetry mode and stiffness affect completion time. A stiffer coupling resulted in faster completion times and lower error. The device also reduced the completion time and error of bimanual tasks performed by healthy individuals.

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Section: B Bimanual Rehabilitationmentioning

confidence: 99%

Effects of Compliant Coupling on Cooperative and Bimanual Task Performance

McAmis

Reed

2013

J. Rehabil. Rob.

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“…Robot-assisted bilateral upper limb training systems can be generally classified into three configuration categories: two independent robotic devices [14][15][16][17][18], one robotic device with an assistive system (EMG-based as an example) [19,20], and one device with two handles [21][22][23].The two-independent-device bilateral system is generally able to achieve different kinds of training modes [24], including joint space symmetry (mirrorimage) [14][15][16][17]19], visual symmetry [17,18,20,22,23], point mirror symmetry [21][22][23] and asymmetry [16,17]. Examples are: Guo, et al [14] implemented passive-mirroring on a single-arm robot in a master-slave configuration using an external haptic device.…”

Section: Introductionmentioning

confidence: 99%

A robot-assisted bilateral upper limb training strategy with subject-specific workspace: A pilot study

Miao

Zhang

McDaid

et al. 2020

Robotics and Autonomous Systems

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This paper proposes a new robot-assisted bilateral upper limb training strategy, focusing on the bilateral coordination of users' upper limbs. The strategy is implemented and evaluated on a bilateral upper limb rehabilitation device (BULReD) that is an Hbot mechanism actuated by two Maxon DC motors. The control system consists of a position controller, an admittance controller and an adaptive algorithm, where the BULReD stiffness is modified session by session based on training performance. This strategy is also integrated with subject-specific workspace for enhanced training safety. Experiments were carried out with five subjects through active reaching tasks. Results indicate that the proposed training strategy requires significant coordination of bilateral upper limbs for task completion, and is able to tune control parameters to an appropriate difficulty level based on participants' training performance. Future work will focus on its clinical evaluation on patients with upper limb disabilities.

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Design and analysis of a compliant bimanual rehabilitation device

McAmis

Reed

2013

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

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Abstract-Bimanual rehabilitation allows an individual with hemiparesis to use their sound arm to help rehabilitate their impaired arm and shows promise as a means of low cost home use rehabilitation. However, few studies have attempted to determine the best combination of bimanual symmetry modes and coupling stiffnesses. To examine the effects of stiffness and symmetry type, we have developed a compliant bimanual rehabilitation device (CBRD) that allows the two hands to be coupled in a variety of symmetry modes and coupling stiffnesses so that their efficacy may be tested. Preliminary analysis has shown that the CBRD can couple the motions of two healthy individuals, which we are using to simulate an individual with a hemiparesis, and improves bimanual task performance of a single individual. The results also show that a higher coupling stiffness reduces the coupling error and that some tasks were easier to complete in visual symmetry.

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Symmetry modes and stiffnesses for bimanual rehabilitation

Cited by 6 publications

References 15 publications

Effects of Compliant Coupling on Cooperative and Bimanual Task Performance

Effects of Compliant Coupling on Cooperative and Bimanual Task Performance

A robot-assisted bilateral upper limb training strategy with subject-specific workspace: A pilot study

Design and analysis of a compliant bimanual rehabilitation device

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