Voluntary motion support control of Robot Suit HAL triggered by bioelectrical signal for hemiplegia

Kawamoto, Hiroaki; Taal, Stefan Roland; Niniss, Hafid; Hayashi, Tomohiro; Kamibayashi, Kiyotaka; Eguchi, Kiyoshi; Sankai, Yoshiyuki

doi:10.1109/iembs.2010.5626191

Cited by 126 publications

(84 citation statements)

References 7 publications

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“…Robots can pick patients up (Mukai et al, 2010), support their movements (Kawamoto et al, 2010), bring medicine and offer reminders (Pollack et al, 2002;Graf et al, 2009;Dragone et al, 2015), and monitor (Noury, 2005;Takacs and Hanak, 2008). In our own previous work we developed a robot which used ambient sensors to monitor falls and then moved to a fallen person to ask if they were okay (Lundstrom et al, 2015); another robot was built to detect and visualize fallen persons on a map also employing thermal means, as a pre-step for conducting first aid (Hotze, 2016).…”

Section: Related Workmentioning

confidence: 99%

PastVision+: Thermovisual Inference of Recent Medicine Intake by Detecting Heated Objects and Cooled Lips

Cooney

Bigün

2017

Front. Robot. AI

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This article addresses the problem of how a robot can infer what a person has done recently, with a focus on checking oral medicine intake in dementia patients. We present PastVision+, an approach showing how thermovisual cues in objects and humans can be leveraged to infer recent unobserved human-object interactions. Our expectation is that this approach can provide enhanced speed and robustness compared to existing methods, because our approach can draw inferences from single images without needing to wait to observe ongoing actions and can deal with short-lasting occlusions; when combined, we expect a potential improvement in accuracy due to the extra information from knowing what a person has recently done. To evaluate our approach, we obtained some data in which an experimenter touched medicine packages and a glass of water to simulate intake of oral medicine, for a challenging scenario in which some touches were conducted in front of a warm background. Results were promising, with a detection accuracy of touched objects of 50% at the 15 s mark and 0% at the 60 s mark, and a detection accuracy of cooled lips of about 100 and 60% at the 15 s mark for cold and tepid water, respectively. Furthermore, we conducted a follow-up check for another challenging scenario in which some participants pretended to take medicine or otherwise touched a medicine package: accuracies of inferring object touches, mouth touches, and actions were 72.2, 80.3, and 58.3% initially, and 50.0, 81.7, and 50.0% at the 15 s mark, with a rate of 89.0% for person identification. The results suggested some areas in which further improvements would be possible, toward facilitating robot inference of human actions, in the context of medicine intake monitoring.

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Section: Related Workmentioning

confidence: 99%

PastVision+: Thermovisual Inference of Recent Medicine Intake by Detecting Heated Objects and Cooled Lips

Cooney

Bigün

2017

Front. Robot. AI

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“…HAL (Hybrid Assistive limb), a light weight powered exoskeleton suit, is efficient in adapting to the user movements by sensing the muscle synergies. HAL uses myoelectric signals to measure the muscle forces and to support voluntary motion of the patient [7,8], as well as to determine the joint stiffness to be applied.…”

Section: Introductionmentioning

confidence: 99%

User Intention Driven Adaptive Gait Assistance Using a Wearable Exoskeleton

Rajasekaran

Aranda

Casals

2015

Advances in Intelligent Systems and Computing

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Abstract-A user intention based rehabilitation strategy for a lower-limb wearable robot is proposed and evaluated. The control strategy, which involves monitoring the human-orthosis interaction torques, determines the gait initiation instant and modifies orthosis operation for gait assistance, when needed. Orthosis operation is classified as assistive or resistive in function of its evolution with respect to a normal gait pattern. The control algorithm relies on the adaptation of the joints' stiffness in function of their interaction torques and their deviation from the desired trajectories. An average of recorded gaits obtained from healthy subjects is used as reference input. The objective of this work is to develop a control strategy that can trigger the gait initiation from the user's intention and maintain the dynamic stability, using an efficient real-time stiffness adaptation for multiple joints, simultaneously maintaining their synchronization. The algorithm has been tested with five healthy subjects showing its efficient behavior in initiating the gait and maintaining the equilibrium while walking in presence of external forces. The work is performed as a preliminary study to assist patients suffering from incomplete Spinal cord injury and Stroke.

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“…3,5,6,8,9,[13][14][15]17) The hybrid assistive limb (HAL) suit is one of a number of advanced technologies that have been developed for the assistance of stroke patients. 12,16) This robotic device was originally designed to support elderly patients with muscle weakness, and to assist with independent mobility in people with impaired motor function. However, whether the HAL suit can be used for the rehabilitation of patients with acute stroke without adverse complications remains unclear.…”

Section: Introductionmentioning

confidence: 99%

Feasibility and Safety of Acute Phase Rehabilitation After Stroke Using the Hybrid Assistive Limb Robot Suit

Ueba

Hamada

Ogata

et al. 2013

Neurol. Med. Chir.(Tokyo)

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Acute phase rehabilitation is an important treatment for improving the functional outcome of patients after stroke. The present cohort study analyzed the feasibility and safety of acute phase rehabilitation using the hybrid assistive limb robot suit in 22 patients, 7 males and 15 females (mean age 66.6 ± 17.7 years). Neurological deterioration, mortality, or other accidents were recorded as adverse events. Baseline characteristics of each patient were recorded at the first hybrid assistive limb rehabilitation. Hybrid assistive limb rehabilitation was conducted for 12.1 ± 7.0 days with the patients in stable condition. Acute phase hybrid assistive limb rehabilitation was performed a total of 84 times with no adverse events recorded except for orthostatic hypotension. Good functional outcomes were obtained in 14 patients. Orthostatic hypotension was observed during the first hybrid assistive limb rehabilitation in four patients, and was significantly associated with intracerebral hemorrhage (p ＝ 0.007) and lower Brunnstrom stage (p ＝ 0.033). Acute phase rehabilitation using the hybrid assistive limb suit is feasible and safe. Patients with intracerebral hemorrhage and lower Brunnstrom stage should be carefully monitored for orthostatic hypotension.

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Voluntary motion support control of Robot Suit HAL triggered by bioelectrical signal for hemiplegia

Cited by 126 publications

References 7 publications

PastVision+: Thermovisual Inference of Recent Medicine Intake by Detecting Heated Objects and Cooled Lips

PastVision+: Thermovisual Inference of Recent Medicine Intake by Detecting Heated Objects and Cooled Lips

User Intention Driven Adaptive Gait Assistance Using a Wearable Exoskeleton

Feasibility and Safety of Acute Phase Rehabilitation After Stroke Using the Hybrid Assistive Limb Robot Suit

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