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Functional electrical stimulation (FES) has shown effectiveness in restoring movement post-stroke when applied to assist participants' voluntary action during repeated, motivating tasks. Recent clinical trials have used advanced controllers that precisely adjust FES to assist functional reach and grasp tasks, showing significant reduction in impairment. The system reported in this paper advances the...
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...
The use of non-invasive methods for detecting motion of the human body in three dimensions has become very popular in recent years due to commercial availability of economically priced 3D sensors. In this paper, we present a web-based interactive serious game interface that uses noninvasive methods to recognize the movements of the body. Our framework provides a mechanism that can engage disabled...
In this paper, we present a serious game-based framework for providing live feedback to a patient performing a rehabilitation therapy for the purpose of assisting a patient in correct therapeutic steps and obtaining high quality therapy data for further analysis. The game environment uses forward kinematics to receive the live sensory data from two 3D motion tracking sensors and uses inverse kinematics...
In the context of a smart user assistance system for industrial manipulation tasks it is necessary to capture motions of the upper body and limbs of the worker in order to derive his or her interactions with the task space. While such capturing technology already exists, the novelty of the proposed work results from the strong requirements of the application context: The method should be flexible...
In the context of a smart user assistance system for industrial manipulation tasks it is necessary to capture motions of the upper body and limbs of the worker in order to derive his or her interactions with the task space. While such capturing technology already exists, the novelty of the proposed work results from the strong requirements of the application context: The method should be flexible...
In this paper, as a preliminary study, we show that accuracy and repeatability in ambulatory measurements of wrist joint are related to movement conditions which are going to be used in a calibration procedure. We chose two representative in-vivo, non-invasive calibration methods of the human upper limb, from those available in literature, to estimate joint parameters. Developing an analytical model...
This paper develops a method to fuse stereo vision, force-torque sensor, and joint angle encoder measurements to estimate and track the location of a grasped object within the hand. We pose the problem as a hybrid systems estimation problem, where the continuous states are the object 6D pose, finger contact location, wrist-to-camera transform and the discrete states are the finger contact modes with...
This paper presents an anthropomorphic robot hand called Osaka-City-University-Hand II, which is an improved version of Osaka-City-University-Hand I. The cosmetic and the function of our proposed hand allow us to use the hand as a prosthetic hand in addition to as an open platform of robot hands for robotics research. Distributed tactile and force sensors are appended to the OCU-Hand II as a feedback...
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...
In the present work we show the important role of wrist movements for the avoidance of non-target objects (obstacles) in a psychological pick-and-place experiment. The results show that humans can adjust the position of their wrist as well as the angle between their underarm and their hand during a prehension movement relative to the position of a non-target object. This indicates that humans tend...
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...
In this work an interface based on inertial sensors with applications for unilateral master - slave robotic teleoperation is developed. In such tasks the interface with which the user interacts plays a key role. In general the interface should be comfortable and to allow free user motion. The interface here proposed is composed of two portable inertial sensor units which are placed on the upper and...
Following hand function impairment caused by a neurological disorder, the functional level of the upper extremities has to be assessed in the clinical and rehabilitation settings. Current hand function evaluation tests are somewhat imprecise. Instrumented gloves allow finger motion monitoring during the performance of skilled tasks, such as grasping objects. As a result, they provide an objective...
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...
The novel ??OrthoJacket?? device aims at restoring restricted or completely lost hand and arm functions in highly tetraplegic spinal cord-injured (SCI) individuals. This system is based on the combination of a hybrid orthosis with integrated fluidic actuators and functional electrical stimulation (FES). Its primary goal is the improvement of paralyzed upper extremity functions and, thus, to enhance...
A wearable sensor network is developed to track the human joint motion with high accuracy. One sensor unit consists of an accelerometer and a miniature linear sensor. We design one motion-based interface based on the wearable sensor network, in which users can control the virtual characters in both a video game and an online virtual environment (Second Life) by moving their wrists and knees. Based...
This paper proposes a data glove for a rehabilitation robot interface for the upper-extremity paralysis. The designed data glove uses seven flexible sensors to measure the flexion angles of fingers and wrist. We verified the performance of the data glove using a 3D graphic interface from we developed. From experimental results, we show the proposed data glove is feasible to sense the hand motions...
In order for humanoid robots to enter human-centered environments, it is indispensable to equip them with the ability to recognize and classify objects in such an environment. A promising way to acquire the object models necessary for object manipulation appears in the supplement of the information gathered by computer vision techniques with data from haptic exploration. In this paper we present a...
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