A 1-DOF Admittance Control Hand Exoskeleton for Grasp

Abbruzzese, Kevin ;   Karunakaran, Kiran ;   Xu, Hao ;   Foulds, Richard

Tags Motor learning, neural control, and neuromuscular systemsWearable systems for neurorehabilitationNeuromuscular systems - Learning and adaption

Admittance control allows the user to input a force and translates that force into motion. The positive features associated with admittance...

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A Brief Review of Recently Developed Open Source Prosthetic Hands Using Additive Manufacturing

Krausz, Nili Eliana ;   Rorrer, Ronald ;   Weir, Richard

Tags Robotics: prostheticsWearable robotic systems: prostheticsNew technologies and methodologies in medical robotics and biomechanics

A brief background into the need for improved upper limb prostheses is presented. The development of several new hands that utilize additive...

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A Hierarchical Bayesian Modeling of the Ankle Reaction Time

Michmizos, Konstantinos ;   Krebs, Hermano Igo

Tags Neural control of movement and robotics applicationsModeling and simulation in musculoskeletal biomechanicsTherapeutic robotics

This paper presents a hierarchical Bayesian parameter estimation of the Ratcliff's diffusion model fit to reaction time (RT), as recorded in...

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A Motion Generation Method for Transfemoral Prosthesis Based on Inertial Motion

Sano, Hiroshi ;   Wada, Takahiro ;   Sekimoto, Masahiro

Tags Modeling and simulation in biomechanics : prostheticsRobotics: prostheticsHardware and control developments in rehabilitation robotics

A motion generation method was proposed for the knee joint of transfemoral prostheses for smooth and natural gait. Based on the results...

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A Patient-Specific Computational Fluid Dynamics Study of Flow Changes after Treatment of Stenosis Proximal to Cerebral Aneurysms

Castro, Marcelo ;   Cebral, Juan ;   Peloc, Nora

Tags Biomechanics modelingBiomedical data-driven modeling

Artery stenotic plaques located proximal to a cerebral aneurysm pose a difficult management decision for physicians. In this paper we present...

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A Portable Powered Ankle-Foot Orthosis for Gait Initiation and Assistance

Hsiao-Wecksler, Elizabeth T. ;   Boes, Morgan ;   Islam, Mazharul ;   Petrucci, Matthew

Tags Wearable robotic systems: orthoticsRobotics: orthoticsHardware and control developments in rehabilitation robotics

The portable powered ankle-foot orthosis (PPAFO) provides power-assisted ankle motion control for gait assistance and therapy. Preliminary...

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A Soft and Controllable Stiffness Manipulator for Minimally Invasive Surgery: Preliminary Characterization of the Modular Design

De Falco, Iris ;   Cianchetti, Matteo ;   Menciassi, Arianna

Tags Surgical roboticsBiologically inspired locomotionNew technologies and methodologies in medical robotics and biomechanics

This paper presents a soft modular manipulator for Minimally Invasive Surgery (MIS). The robot takes inspiration from the capabilities of the...

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A Surgical Robotic Interface for Kidney Tumor Cryoablation

Yandac, Asim Evren ;   Cay, Damla ;   Akgun, Gokhan ;   Erol Barkana, Duygun

Tags Computer-aided decision makingKnowledge discovery and management

In this paper, the development procedure of a surgical interface for kidney tumor cryoablation has been given. The surgical interface has...

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A Wireless Glucose Sensor on a Paper Substrate

Weinreich, Stephen ;   Rosenstein, Jacob

Tags Micrototal analysis and lab-on-chip systemsPortable miniaturized systemsMicrofluidic techniques, methods and systems

In this paper we demonstrate an active wireless electrochemical sensor on a flexible paper substrate. The battery-free system harvests...

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Algorithm for a Continuous Estimate of Individual Finger Positions Using Surface Electromyography in the Forearm

Germany Morrison, Enrique Ignacio ;   Pino, Esteban J

Tags Machine learning and control in bioroboticsHardware and control developments in rehabilitation roboticsRobotics: prosthetics

An 8-channel analog surface electromyography from the forearm, combined with flexion sensors embedded in a glove to measure the degree of...

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An Active-AFO Using Wireless Sensor Network Module

Yoshizawa, Nobuyuki

Tags Wearable robotic systems: orthoticsRobotics: orthoticsNew technologies and methodologies in medical robotics and biomechanics

Optimum control of the ankle joint actuator is essential for realizing a stable gait when wearing an active ankle foot orthosis (AAFO). An...

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Anticipatory Mechanics and Muscle Activity of Level Ground Walking to Stair Ascent and Descent Locomotor Transitions

Fey, Nicholas ;   Peng, Josh ;   Hargrove, Levi

Tags Mechanics of locomotion and balance

We compared bilateral neuromechanics of level walking to stair ascent and descent transitions. Using steady-state level walking as a baseline,...

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Assessment of Muscle Fiber Type Composition by Peripheral Nerve Stimulation and Continuous Contraction Curve

Huang, Yin-Kai ;   Ho, Wei-Yi ;   Vd Merwe, Hein ;   Jaw, Fu-Shan ;   Fong, Tsorng-Harn

Tags Motor neuroprostheses - ProsthesesNeurological disorders - Treatment methodologies

This study proposed a method to assess fiber type composition (FTC) of a whole muscle. The conventional method is needle biopsy. However,...

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Augmenting Muscle Force by Low Rate Proximal Nerve Stimulation

Crago, Patrick ;   Makowski, Nathaniel

Tags Motor neuroprostheses - Neuromuscular stimulation

Proximal stimulation of muscle nerves can increase motor unit action potential rate and force compared to equivalent distal stimulation during...

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Body Machine Interface for Proportional Control of a Power Wheelchair

Thorp, Elias ;   Abdollahi, Farnaz ;   Chen, David ;   Farshchiansadegh, Ali ;   Lee, Mei-Hua ;   Pedersen, Jessica ;   Pierella, Camilla ;   Roth, Elliot ;   Seanez Gonzalez, Ismael ;   Mussa-Ivaldi, Ferdinando

Tags Neural interfaces - Body interfacesMotor learning, neural control, and neuromuscular systems

We developed a wheelchair control interface that relies on small shoulder movements to continuously control both the speed and direction of a...

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Comparison of Image Processing Methods for Detection of Ascending Stair Edges for Control of Assistive Devices

Krausz, Nili Eliana ;   Hargrove, Levi

Tags Assistive and cognitive robotics in aided livingAssistive and cognitive robotics in rehabilitationWearable robotic systems: prosthetics

The authors compared results from multiple image processing methods with the goal of producing the most robust system for detecting...

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Computer Vision Controlled Grasping in Hand Prostheses: Comparison with the Commercial State-Of-The-Art

Markovic, Marko ;   Dosen, Strahinja ;   Farina, Dario ;   Graimann, Bernhard

Tags Wearable systems for neurorehabilitation - Reaching and graspingMotor neuroprostheses - Prostheses

We developed a system for the automatic control of preshape and orientation in multi degree-of-freedom hand prostheses. We experimentally...

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Coordinating Hip and Knee Joints with a Hybrid Neuroprosthesis

Chang, Sarah ;   Nandor, Mark ;   Foglyano, Kevin ;   Kobetic, Rudi ;   Triolo, Ronald J.

Tags Hardware and control developments in rehabilitation roboticsNeural control of movement and robotics applicationsWearable robotic systems: orthotics

Gait can be restored for individuals with paraplegia using a combination of controllable lower extremity orthoses and functional neuromuscular...

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Customized Forces for Teaching Visuomotor Transformations

Fisher, Moria ;   Patton, James (Jim)

Tags Neural control of movement and robotics applicationsHuman machine interfaces and robotics applications

In many human-machine interactions such as fly-by-wire, piloting, and telesurgery there is no force interaction. This study investigated how...

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Development of a Low-Cost Wrist-Elbow Rehabilitation Device

Paul, Seth ;   Naylor, Jeffrey ;   Meek, Sanford ;   LaStayo, Paul ;   Merryweather, Andrew

Tags Hardware and control developments in rehabilitation roboticsTherapeutic roboticsBiomechanics and robotics in physical exercise

Eccentric loading the forearm extensors has recently shown promise for rehabilitation of lateral epicondylalgia. Optimal training parameters...

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Development of Adjustable "Halo Coil" Configuration for Deep Brain Transcranial Magnetic Stimulation

Meng, Yiwen ;   Qu, Jikang ;   Xu, Zhen ;   Crowther, Lawrence J. ;   Hadimani, Ravi L. ;   Jiles, David C.

Tags Deep brain stimulationDeep brain stimulation - FEM-Neuron models

Halo coil configuration can stimulate deeper regions of the brain with lower surface to deep-brain field ratio compared to other coil...

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EEG-Based Comparison of Repetitive Visual Stimulation at Frequencies in the Alpha Band

Barnhoorn, Jonathan ;   Tsoneva, Tsvetomira ;   Garcia-Molina, Gary Nelson

Tags Time-frequency analysis of biosignalsSignal processing in physiological systemsData mining in biosignals

We investigated whether repetitive visual stimulation (RVS) in the alpha band (8 - 13 Hz) elicits steady state visual evoked responses...

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Effects of Passive Oscillatory Motions on Human Balance Abilities in Standing Position

Okada, Shima ;   Sakaue, Yusuke ;   Shiozawa, Naruhiro ;   Makikawa, Masaaki ;   Shichiri, Nobuko

Tags Therapeutic roboticsBiomechanics and robotics in sports

Human postural control in a standing position integrates and processes huge information provided by vision, hearing, sense of balance and...

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Electrocortical Activity of Sensorimotor Processing During a Gait Rehabilitation Task

Huang, Helen ;   Ferris, Daniel

Tags Brain functional imaging - EEGNeuromuscular systems - LocomotionHuman performance - Sensory-motor

During gait rehabilitation, the level of sensory and motor processes involved during gait therapy may vary depending on the sensorimotor...

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EMG Classification of the Index Finger for an Anthropomorphic Hand

Gumus, Caner ;   Capa, eda ;   Cotur, Yasin ;   Hasekioglu, Taha ;   Kaplanoglu, Erkan ;   Ozkan, Mehmed

Tags Modeling and simulation in biomechanics : prostheticsRobotics: prosthetics

The perspective of this study is to analyze EMG signals from movements of the human index finger in order to design a dexterous...

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Estimating Center of Mass Kinematics with a Networked Neuroprosthesis for Standing

Nataraj, Raviraj ;   Audu, Musa ;   Triolo, Ronald J.

Tags Motor neuroprosthesesNeuromuscular systems - Postural and balanceNeuromuscular systems - Computational modeling

This study examined the potential of estimating total-body center of mass (CoM) kinematics for feedback control of a proposed networked...

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Evaluation of Piezoelectric Property by Using First-Principles Calculations of A-Site Substitution MgSiO3 Mixed Crystal

Yoshioka, Naoki ;   Nakamachi, Eiji

Tags Micro- and nano-technologyBiocompatibility of implantable sensors

In this study, we improved piezoelectric property of MgSiO3 (MSO) by A-site substitution. Recently, Bio-MEMS device is developing for health...

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Extra Corporeal Enteral Prosthesis: A Bypass Device for Continuous Digestive Flow between Two Intestinal Stomas (technical Aspects)

Sozanski, Jean Pierre ;   Logier, Regis ;   De Jonckheere, Julien ;   Jeanne, Mathieu

Tags Prosthetic devicesPortable miniaturized systems

Intestinal stomas can result from surgical pathologies such as Crohn'disease, tumor or trauma. When too proximal, the stoma can lead to loss...

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Feature Extraction Method for Sit-To-Stand and Stand-To-Sit Intention Recognition Using Electromyogram Signals

Chung, Sang Hun ;   Lee, Jong Min ;   Hwang, Yoha ;   Kim, Seung-Jong ;   An, Jinung

Tags Neuromuscular systems - EMG processing and applicationsNeuromuscular systems - LocomotionWearable systems for neurorehabilitation

This paper makes an introduction of an intention recognition method for an overground gait rehabilitation robot. We present a classification...

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From Hip-Knee-Ankle Orthosis to Pediatric Exoskeleton

Androwis, Ghaith ;   Michael, Peter ;   Strongwater, Allan ;   Foulds, Richard

Tags Wearable robotic systems: orthoticsRobotics: orthoticsDesign and development of robots for human-robot interaction

The conversion of a passive hip-knee-ankle orthoses into a custom-fitted pediatric exoskeleton allows is the children with gait disorders to...

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Geometric Design of Minimally Actuated Exoskeletons

Soh, Gim Song ;   Robson, Nina Patarinsky

Tags Wearable robotic systems: prostheticsDesign and development of robots for human-robot interactionNew technologies and methodologies in medical robotics and biomechanics

This paper describes a novel systematic method for designing minimally actuated mechanical limbs to recreate a desired workspace, defined from...

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Gravity Compensation of an Above-Elbow Prosthetic Arm

James, Dotterweich, Jim ;   Meek, Sanford

Tags Wearable robotic systems: prostheticsRobotics: prostheticsModeling and simulation in biomechanics : prosthetics

Current upper extremity prosthetic controllers do not account for the kinematic, dynamic, and gravity disturbances that affect the control...

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High-Frequency Ultrasound-Guided Robot for Preclinical Injections in Small-Animal Models

Hadj Boussaad, Adem Nadjib ;   Waring, Christopher ;   Bax, Jeff ;   Fenster, Aaron ;   Lacefield, James C.

Tags Image guided surgerySurgical robotics

A mechatronic device has been developed to perform injections under high-frequency ultrasound guidance for preclinical interventions. A...

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Maximal Contraction by Peripheral Nerve Stimulation with Least Energy Delivery

Ho, Wei-Yi ;   Huang, Yin-Kai ;   Vd Merwe, Hein ;   Chen, Chien-Hua ;   Jaw, Fu-Shan

Tags Motor neuroprostheses - ProsthesesNeurological disorders - Treatment methodologies

This study proposes a method to achieve maximal contraction with least energy delivery. Strength-duration curve and rheobase determinations...

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Nanofiber-based Cardiac Tissue Engineering using Clinically Approved Collagen

Kitsara, Maria ;   Joanne, Pierre ;   Boitard, Solène ;   Ben Dhiab, Ibtihel ;   Poinard, Barbara ;   Vanneaux, Valérie ;   Larghero, Jérôme ;   Menasché, Philippe ;   Forest, Patricia ;   Gagnieu, Christian ;   Agbulut, Onnik ;   Chen, Yong

Tags Micro-/nano-fabrication in tissue engineeringEngineered matrices for ES and stem cell maintenanceCell seeding in engineered scaffolds

Human embryonic stem cell (hESC)-derived cardiac progenitors have been extensively studied for their ability to improve the function of...

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One Step Closer to an Antropomorphic Dexterous Hand

Atasoy, Ahmet ;   Kuchimov, Shavkat ;   Toptas, Ersin ;   Kaplanoglu, Erkan ;   Takka, Semih ;   Ozkan, Mehmed

Tags Robotics: prostheticsModeling and simulation in biomechanics : prosthetics

the key to obtaining dexterous function in a prosthetic hand lies in imitating the complex structure (anatomy) of the human hand with all its...

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Optimal Stability-Maneuverability Trade-Off in Postural Control

Pienciak-Siewert, Alison ;   Huang, Helen ;   Ahmed, Alaa

Tags Neuromuscular systems - Postural and balanceNeuromuscular systems - Learning and adaption

Prior experimental findings indicated a stability- maneuverability trade-off in postural control. Our modeling results support this, suggesting...

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Passive Knee Joint for Transfemoral Prosthesis for Stair Ascent with Knee Flexion Function in Swing Phase

Yoshida, Shun ;   Wada, Takahiro ;   Inoue, Koh

Tags Wearable robotic systems: prosthetics

Stair ascent is still difficult for transfemoral prosthesis users though stability of the prosthesis has been established in level walking. A...

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Poly(? -Caprolactone) Nanofibers Embedded with Graphene Oxide Nanosheets for Nerve Tissue Engineering Applications

Soltanian-Zadeh, Sepeedah ;   Ghazali, Zahra Sadat ;   Rabiee, Mohammad ;   Mozafari, Masoud ;   Nazem-Zadeh, Mohammad-Reza ;   Moztarzadeh, Fathollah

Tags Micro-/nano-fabrication in tissue engineering

Composites nanofibers of poly(?-caprolactone) (PCL) and graphene oxide nanosheets are prepared by electrospinning method. Surface chemical...

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Powered Attendant Wheelchair with Assist As Needed Control

Suzuki, Tatsuto ;   Utsuno, Hideo ;   Holloway, Catherine ;   Boampong, Derrick ;   Hayrapetyan, Karen ;   Nick, Tyler

Tags Robot-aided mobility: wheelchairs, canes, crutches etc.Assistive and cognitive robotics in aided livingBiomechanics and robotics in physical exercise

A proposed assistive controller in this study generates assistive forces when attendant propelling force exceeds assist boundary force...

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Robot Assistance and Visual Feedback in Reaching Exercise of Chronic Stroke Survivors

Song, Won-Kyung ;   Kim, Yale ;   Jeong, Ji Young ;   Kim, Jung Yoon

Tags Therapeutic roboticsRobotics: orthoticsBiomechanics and robotics: clinical evaluation in rehabilitation and orthopedics

We compared 3D point-to-point movements of stroke patients assisted by devices and evaluated the effect of 2D/3D visual feedback on the...

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Robot-Assisted Rehabilitation in Chronic Stroke Survivors: Can the Training of the Unaffected Arm Contribute to Recovery?

De Luca, Alice ;   Vernetti, Honorè ;   Lentino, Carmelo ;   Checchia, Giovanni Antonio ;   Giannoni, Psiche ;   Casadio, Maura

Tags Neurological disorders - Stroke

In this study we evaluated the effects of a robot-assisted rehabilitation training, where chronic stroke survivors performed active...

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Robotic Exoskeleton Hand of NREX in Reaching and Grasping Exercise

Song, Won-Kyung ;   Song, Won-Jin ;   Jeong, Soon-Joon ;   Shin, Joon-Ho

Tags Wearable robotic systems: orthoticsRobotics: orthoticsAssistive and cognitive robotics in rehabilitation

We developed a simple but effective grasping hand for the NRC Robotic Exoskeleton (NREX). This featured two sets of four-bar linkages to...

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Sense of Embodiment of an Artificial Finger Following Sensory Substitution by Electrocutaneous Stimulation of the Forearm

Hartmann, Cornelia ;   Dosen, Strahinja ;   Farina, Dario

Tags Sensory neuroprostheses - SomatosensoryMotor neuroprostheses - Prostheses

Electrotactile stimulation on the forearm was used to investigate if a sense of ownership and embodiment of an artificial finger ("rubber...

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The Effects of Motor Impairments on Movement Distributions

Lancaster, Joseph ;   Wright, Zachary ;   Huang, Felix ;   Patton, James (Jim)

Tags Neural control of movement and robotics applicationsModeling and simulation in musculoskeletal biomechanicsTherapeutic robotics

Stroke survivors often exhibit stereotypical movement patterns, yet their relationship to the underlying impairments that might cause them...

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Toward Neural Oscillator Based Brain-Computer Interface

Ikeda, Ryo ;   Horie, Ryota

Tags Brain-computer/machine interface

In this study, we proposed a method to control a neuromusculoskeletal system by electroencephalogram (EEG) as the external input to the...

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Towards Gyroscopic Balance Assistance: Proof of Concept

Lemus, Daniel ;   Vallery, Heike

Tags Robot-aided mobility: wheelchairs, canes, crutches etc.Assistive and cognitive robotics in aided livingMechanics of locomotion and balance

In this paper, the feasibility of a Control Moment Gyroscope (CMG) as balance assistance device is investigated. An inverted pendulum is used...

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