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As sequelae of stroke, hemiplegia is a typical symptom, where paralysis occurs in the half the body because of brain damage. In this study, we have developed selectable constraint mechanism for hemiplegic upper limb training. By using this mechanism, it became possible to separate synergic movement while flexion-extension training of shoulder and elbow by constraining each individual joints. As the...
This paper describe the design and development of Upper Extremities Powered Exoskeleton of Four-Degree of Freedom (4 DOF) which is developed utilizing the McKibben Artificial Muscles. Such systems will be useful in the field of rehabilitation, and provides additional strength in lifting capabilities to ordinary individuals. Main purposes of the system are to rehabilitate post-stroke individual, and...
Movement-related diseases, such as Parkinson's disease (PD), progressively affect the motor function, many times leading to severe motor impairment and dramatic loss of the patients' quality of life. Human motion analysis techniques can be very useful to support clinical assessment of this type of diseases. In this contribution, we present a RGB-D camera (Microsoft Kinect) system and its evaluation...
Upper Limb Work-related Musculo Skeletal Disorders (ULWMSD) are constantly increasing every year in developed countries. It is estimated that in Italy, in 2007 ULWMSD were the 41,6% of all the work-related pathologies. In this context, the importance to correctly diagnose and treat this kind of pathology is growing. Traditionally the assessment is done using pen-and-paper observational techniques...
Control of transhumeral prosthetic devices can effectively be performed using the predicted joint torques at the elbow. The joint torque values are generally predicted using the Electromyography (EMG) signals taken from upper arm muscles of the amputee. This paper uses a Bagnoli-16 EMG system to extract EMG signals from the biceps and triceps. The EMG signals are complex to handle mainly due to the...
SEFRE (Shoulder-Elbow-Forearm Robotics Economic) rehabilitation system is introduced in this paper. The control concept to allow everybody, e.g. a patient who has no muscle force, or a healthy person who has problem of muscle deficiency, to be rehabilitated by SEFRE Rehab System is focused. Also, a low cost robotic rehabilitation system for wrist-elbow-forearm, so called WEFRE Rehab System, is presented...
Wearable inertial systems have recently been used to track human movement in and outside of the laboratory. Continuous monitoring of human movement can provide valuable information relevant to individual's level of physical activity and functional ability. Traditionally, orientation has been calculated by integrating the angular velocity from gyroscopes. However, a small drift in the measured velocity...
Many people of all ages have sustained cervical cord injury in traffic accidents or sport accidents, and consequently suffered physical impairment. For individuals with paralysis of the lower limb who have also lost the ability to extend the elbow, many motions become difficult to perform in daily life, for example, independently operating a wheelchair or pushing open doors. In the future, wearable...
This paper presents a new sensing system for home-based rehabilitation based on optical linear encoder (OLE), in which the motion of an optical encoder on a code strip is converted to the limb joints' goniometric data. A body sensing module was designed, integrating the OLE and an accelerometer. A sensor network of three sensing modules was established via controller area network bus to capture human...
Lifting a heavy object is regarded as a frequently performed motion that imposes physical strains on workers. The objective of this study is to verify the effectiveness of forearm support-type lift assist system (FOLAS) for lifting motion in the sagittal plane. The mechanical structure of the FOLAS is largely divided into a forearm support and a parallel motion arm; the forearm support has no fixture...
Body awareness has important implications for the use of Virtual Reality (VR) and its effectiveness. This involves the senses of agency and body ownership. The possibility of producing the Rubber Hand Illusion (RHI) in VE (the sense of feeling a fake virtual body part seems like the one??s own part), has been proven in the past, by giving the user synchronous 3D visual stimulation and passive tactile...
The paper presents results from a virtual reality (VR)-based system for upper limb rehabilitation. The system incorporates a range of interchangeable direction sensing devices (the Optical Linear Encoder (OLE) and the inertial measurement unit (IMU)) that can be adjusted to a large range of different arm and hand sizes, and interactive practice applications designed for motivating and seamlessly driving...
In this paper, we present a novel sensing technique, optical linear encoder (OLE), in which the motion of an optical encoder on a reflective strip is converted to limb joints' goniometric data. A body sensing module is designed to integrate the OLE and an accelerometer. A sensor network of three sensing modules is established via Controller Areas Network (CAN) bus to capture full motion of human arm...
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