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Статті в журналах з теми "Motion assistance"

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Автор: Grafiati

Опубліковано: 10 грудня 2022

Оновлено: 28 січня 2023

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1

Miyake, Tamon, Yo Kobayashi, Masakatsu G. Fujie, and Shigeki Sugano. "One-DOF Wire-Driven Robot Assisting Both Hip and Knee Flexion Motion." Journal of Robotics and Mechatronics 31, no. 1 (February 20, 2019): 135–42. http://dx.doi.org/10.20965/jrm.2019.p0135.

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Анотація:

Gait assistance robots are used to improve gait performance ability or perform gait motion with an assistance for several articular motions. The sparing use of a gait assistance robot to decrease the duration of the robot’s assistance is important for keeping the ability to perform a movement when the robot assists walking. In previous research, methods of ensuring a compliance mechanism and control method have been studied, and assistance for articular motions has been conducted independently using actuators corresponding to each articular motion. In this paper, we propose a wire-driven gait assistance robot to aid both hip and knee articular flexion motions by applying just one force to assist motion in the swing phase. We focused on a force that assists hip and knee flexion motion, and designed a robot with a compensation mechanism for the wire length. We used an assistance timing detection method for the robot, conducting tensile force control based on information from the hip, knee, and ankle angles. We carried out an experiment to investigate the controlled performance of the proposed robot and the effect on hip and knee angular velocity. We confirmed that the proposed robotic system can aid both hip and knee articular motion with just one force application.

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2

Unger, Christian, Eric Wahl, and Slobodan Ilic. "Parking assistance using dense motion-stereo." Machine Vision and Applications 25, no. 3 (December 15, 2011): 561–81. http://dx.doi.org/10.1007/s00138-011-0385-1.

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3

Kiguchi, Kazuo, Koya Iwami, Keigo Watanabe, and Toshio Fukuda. "Controller Adjustment of an Exoskeleton Robot for Shoulder Motion Assistance." Journal of Robotics and Mechatronics 16, no. 3 (June 20, 2004): 245–55. http://dx.doi.org/10.20965/jrm.2004.p0245.

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We are developing exoskeleton robots to realize human shoulder motion assistance for the physically weak. In this paper, we propose controller adjustment for the controller of the exoskeleton robot for human shoulder motion assistance. Motion assistance in the entire movable range of the exoskeleton is realized with a few teaching motion patterns using the proposed controller adjustment. Muscle activity (electromyography) during shoulder motion and motion error between desired user shoulder motion and the measured assisted shoulder motion are evaluated.

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4

Vitiello, Nicola, Samer Mohammed, and Juan C. Moreno. "Wearable robotics for motion assistance and rehabilitation." Robotics and Autonomous Systems 73 (November 2015): 1–3. http://dx.doi.org/10.1016/j.robot.2015.03.005.

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5

Chugo, Daisuke, Kuniaki Kawabata, Hiroyuki Okamoto, Hayato Kaetsu, Hajime Asama, Norihisa Miyake, and Kazuhiro Kosuge. "Force assistance system for standing‐up motion." Industrial Robot: An International Journal 34, no. 2 (March 13, 2007): 128–34. http://dx.doi.org/10.1108/01439910710727478.

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6

Lim, H. B., Trieu Phat Luu, K. H. Hoon, Xingda Qu, and K. H. Low. "Body Weight Support with Natural Pelvic Motion Assistance for Robotic Gait Rehabilitation." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 762–67. http://dx.doi.org/10.1299/jsmeicam.2010.5.762.

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7

Geonea, Ionut, Nicolae Dumitru, Adrian Sorin Rosca, Alin Petcu, and Leonard Ciurezu. "Experimental Validation of an Exoskeleton for Motion Assistance." Applied Mechanics and Materials 880 (March 2018): 111–17. http://dx.doi.org/10.4028/www.scientific.net/amm.880.111.

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Анотація:

In this paper experimental investigations concerning the prototype validation of an exoskeleton for human gait rehabilitation are presented. The proposed exoskeleton is intended for human legs motion assistance, being a low cost solution. The exoskeleton provides motion assistance for human hip and knee joint. The experimental gait analysis of the exoskeleton and assisted human subject is performed with goniometers sensors. These sensors are attached to the exoskeleton hip and knee joints and measure the angle variation. The results obtained for the exoskeleton motion are compared with those obtained in case of a healthy human subject. Angular variation corresponding to a step, as a comparison for human and exoskeleton joints is performed. The conclusion is that the designed exoskeleton is proper for human gait motion assistance, because the joints motion is comparable with the human subject.

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8

Ceccarelli, Marco, and Cuauhtemoc Morales-Cruz. "A prototype characterization of ExoFinger, a finger exoskeleton." International Journal of Advanced Robotic Systems 18, no. 3 (May 1, 2021): 172988142110248. http://dx.doi.org/10.1177/17298814211024880.

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Анотація:

This article presents an experimental characterization of ExoFinger, a finger exoskeleton for finger motion assistance. The exoskeletal device is analyzed in experimental lab activities that have been conducted with different users to characterize the operation performance and to demonstrate the adaptability of the proposed device. The behavior of this device is characterized in detail using sensors to measure finger motion and power consumption. Sensor measures also demonstrate the given motion assistance performance in terms of an electrical finger response and finger temperature by resulting in an efficient solution with a large motion range of a finger in assistance of recovering finger motion.

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9

Ismail, Rifky, Mochammad Ariyanto, Inri A. Perkasa, Rizal Adirianto, Farika T. Putri, Adam Glowacz, and Wahyu Caesarendra. "Soft Elbow Exoskeleton for Upper Limb Assistance Incorporating Dual Motor-Tendon Actuator." Electronics 8, no. 10 (October 18, 2019): 1184. http://dx.doi.org/10.3390/electronics8101184.

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Loss of muscle functions, such as the elbow, can affect the quality of life of a person. This research is aimed at developing an affordable two DOF soft elbow exoskeleton incorporating a dual motor-tendon actuator. The soft elbow exoskeleton can be used to assist two DOF motions of the upper limb, especially elbow and wrist movements. The exoskeleton is developed using fabric for the convenience purpose of the user. The dual motor-tendon actuator subsystem employs two DC motors coupled with lead-to-screw converting motion from angular into linear motion. The output is connected to the upper arm hook on the soft exoskeleton elbow. With this mechanism, the proposed actuator system is able to assist two DOF movements for flexion/extension and pronation/supination motion. Proportional-Integral (PI) control is implemented for controlling the motion. The optimized value of Kp and Ki are 200 and 20, respectively. Based on the test results, there is a slight steady-state error between the first and the second DC motor. When the exoskeleton is worn by a user, it gives more steady-state errors because of the load from the arm weight. The test results demonstrate that the proposed soft exoskeleton elbow can be worn easily and comfortably by a user to assist two DOF for elbow and wrist motion. The resulted range of motion (ROM) for elbow flexion–extension can be varied from 90° to 157°, whereas the maximum of ROM that can be achieved for pronation and supination movements are 19° and 18°, respectively.

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10

Long, Yi, Zhi-jiang Du, Wei-dong Wang, and Wei Dong. "Human motion intent learning based motion assistance control for a wearable exoskeleton." Robotics and Computer-Integrated Manufacturing 49 (February 2018): 317–27. http://dx.doi.org/10.1016/j.rcim.2017.08.007.

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11

Inose, Hiroki, Shun Mouri, Taro Nakamura, Kazuya Yokoyama, and Isao Kikutani. "Verification of effective motion assistance by a power-assist suit during crouching positions." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 60–61. http://dx.doi.org/10.1299/jsmeicam.2015.6.60.

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12

Lösch, C., N. Nitzsche, C. Maiwald, J. Richter, L. Lehmann, N. Wiede, M. Weigert, and H. Schulz. "Validation of an assistance system for motion analysis." Deutsche Zeitschrift für Sportmedizin 2019, no. 3 (March 1, 2019): 75–82. http://dx.doi.org/10.5960/dzsm.2019.370.

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13

Fu, Li-hua, Wei-dong Wu, Yu Zhang, and Reinhard Klette. "Unusual Motion Detection for Vision-Based Driver Assistance." International Journal of Fuzzy Logic and Intelligent Systems 15, no. 1 (March 30, 2015): 27–34. http://dx.doi.org/10.5391/ijfis.2015.15.1.27.

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14

Chen, Bing, Chun-Hao Zhong, Hao Ma, Xiao Guan, Lai-Yin Qin, Kai-Ming Chan, Sheung-Wai Law, Ling Qin, and Wei-Hsin Liao. "Sit-to-stand and stand-to-sit assistance for paraplegic patients with CUHK-EXO exoskeleton." Robotica 36, no. 4 (November 27, 2017): 535–51. http://dx.doi.org/10.1017/s0263574717000546.

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SUMMARYIn this paper, we introduce a lower extremity exoskeleton CUHK-EXO that is developed to help paraplegic patients, who have lost the motor and sensory functions of their lower limbs to perform basic daily life motions. Since the sit-to-stand and stand-to-sit (STS) motion is the first step for paraplegic patients toward walking, analysis of the exoskeleton's applicability to the STS motion assistance is performed. First, the human-exoskeleton system (HES) is modeled as a five-link model during the STS motion, and the center of pressure (COP) on the ground and center of gravity of the whole system are calculated. Then, a description of the CUHK-EXO hardware design is presented, including the mechatronics design and actuator selection. The COP position is an important factor indicating system balance and wearer's comfort. Based on the COP position, a trajectory online modification algorithm (TOMA) is proposed for CUHK-EXO to counteract disturbances, stabilize system balance, and improve the wearer's comfort in the STS motion. The results of STS motion tests conducted with a paraplegic patient demonstrate that CUHK-EXO can provide a normal reference pattern and proper assistive torque to support the patient's STS motion. In addition, a pilot study is conducted with a healthy subject to verify the effectiveness of the proposed TOMA under external disturbances before future clinical trials. The testing results verify that CUHK-EXO can counteract disturbances, and help the wearer perform the STS motion safely and comfortably.

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15

Li, Xin, Weihao Li, and Qiang Li. "Method, Design, and Evaluation of an Exoskeleton for Lifting a Load In Situ." Applied Bionics and Biomechanics 2021 (May 25, 2021): 1–12. http://dx.doi.org/10.1155/2021/5513013.

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Анотація:

Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton.

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16

CHUGO, DAISUKE, and KUNIKATSU TAKASE. "FORCE CONTROL OF A REHABILITATION WALKER FOR STANDING ASSISTANCE WITH STABILITY." International Journal of Information Acquisition 06, no. 01 (March 2009): 47–60. http://dx.doi.org/10.1142/s0219878909001795.

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This paper proposes a walker system with power assistance device for standing-up motion. Our system focuses on family use for aged people who need nursing in their daily life. Our key ideas are based on two topics. The first topic is new assistance manipulator mechanism with four parallel linkages. Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages compared with general manipulator. Thus, we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patient's posture during standing-up, our control system selects more appropriate control method from them. Furthermore, the walker coordinates its assistance position and maintains the stable posture of the patient during standing assistance. We use the reference of standing-up motion which is based on the typical standing-up motion by a nursing specialist for realizing the natural assistance. The performance of our proposed assistance system is verified by experiments using our prototype.

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17

Nakamura, Kensuke, and Norihiko Saga. "Current Status and Consideration of Support/Care Robots for Stand-Up Motion." Applied Sciences 11, no. 4 (February 14, 2021): 1711. http://dx.doi.org/10.3390/app11041711.

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In order to make robots, which are expected to play an active role in the medical and nursing care fields in the future, more practical for use in rehabilitation, it is necessary to evaluate the current status of the design of these robots. Therefore, this paper aims to investigate the existing literature on standing motion assistance robots developed and reported to date and investigate each existing design technique from the perspectives of “Functions and Effects” and “Assist form and control.” Then, we search and investigate papers written in English on standing motion assistance robots reported from 2008 to 2019 and organize the contents of the relevant papers into their different assistance modes and four categories related to design. As a result, the standing motion assistance robots are classified into three assist modes: partial assistance, total assistance, and both. The assistance forms are roughly divided into two types: a wearable type and a non-wearable type. It is also demonstrated that both the assistance forms adopt the same trends in terms of the control strategy design and system I/O relationships. On the other hand, power equipment tends to be different between the two forms.

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18

Russo, Matteo, and Marco Ceccarelli. "Analysis of a Wearable Robotic System for Ankle Rehabilitation." Machines 8, no. 3 (August 27, 2020): 48. http://dx.doi.org/10.3390/machines8030048.

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As one of the most commonly injured joints of the human body, the ankle is often subject to sprains or fractures that require motion assistance to recover mobility. Whereas physiotherapists usually perform rehabilitation in one-on-one sessions with patients, several successful robotic rehabilitation solutions have been proposed in the last years. However, their design is usually bulky and requires the patient to sit or stand in a static position. A lightweight wearable device for ankle motion assistance, the CABLEankle, is here proposed for motion ankle exercising in rehabilitation and training. The CABLEankle is based on a cable-driven S-4SPS parallel architecture, which enables motion assistance over the large motion range of the human ankle in a walking gait. The proposed mechanism design is analyzed with kinematic and static models, and the force closure workspace of the mechanism is discussed with analytical results. Finally, the feasibility of the proposed design is investigated through numerical simulations over the ankle motion range as a characterization of the peculiar motion.

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19

OYA, Takuma, and Minoru HASHIMOTO. "1P1-T10 Standing Up Motion Assistance Using Robotic Wear." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _1P1—T10_1—_1P1—T10_2. http://dx.doi.org/10.1299/jsmermd.2015._1p1-t10_1.

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20

Mohammed, Samer, Juan C. Moreno, Thomas Sugar, Yasuhisa Hasegawa, Nicola Vitiello, Qining Wang, and Conor J. Walsh. "Wearable Robotics for Motion Assistance and Rehabilitation [TC Spotlight]." IEEE Robotics & Automation Magazine 25, no. 1 (March 2018): 19–28. http://dx.doi.org/10.1109/mra.2017.2787222.

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21

Vitiello, Nicola, Samer Mohammed, and Juan C. Moreno. "Guest Editorial Wearable Robotics for Motion Assistance and Rehabilitation." IEEE Transactions on Neural Systems and Rehabilitation Engineering 25, no. 2 (February 2017): 103–6. http://dx.doi.org/10.1109/tnsre.2017.2665279.

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22

Ott, L., F. Nageotte, P. Zanne, and M. de Mathelin. "Robotic Assistance to Flexible Endoscopy by Physiological-Motion Tracking." IEEE Transactions on Robotics 27, no. 2 (April 2011): 346–59. http://dx.doi.org/10.1109/tro.2010.2098623.

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23

EZAWA, Kazuhiro, and Pongsathorn RAKSINCHAROENSAK. "2B12 Hazard-anticipatory collision avoidance braking assistance sytem based on pedestrian motion prediction(The 12th International Conference on Motion and Vibration Control)." Proceedings of the Symposium on the Motion and Vibration Control 2014.12 (2014): _2B12–1_—_2B12–12_. http://dx.doi.org/10.1299/jsmemovic.2014.12._2b12-1_.

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24

Kiguchi, Kazuo, Shingo Kariya, Takakazu Bnaka, Keigo Watanabe, and Toshio Fukuda. "An Interface between an Exoskeletal Elbow Motion Assistance Robot and the Human Upper Arm." Journal of Robotics and Mechatronics 14, no. 5 (October 20, 2002): 439–52. http://dx.doi.org/10.20965/jrm.2002.p0439.

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Анотація:

We have been developing exoskeletal motion assistance robots for human motion support to help physically weak persons. Since elbow motion is one of the simplest and most important motion in daily activities, we have developed a exoskeletal robot for human elbow motion assistance. In this system, the angular position and impedance of the exoskeletal robot are controlled by multiple fuzzy-neuro controllers. Skin surface electromyography (EMG) signals and wrist force by the human subject during elbow joint motion have been used as input information for the controller. Since the activation of working muscles tends to vary with the human subject's upper arm posture, we propose an interface that cancels out the effect of posture changes of the human subject's upper arm. Experimental results show the effectiveness of the proposed interface.

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25

Zhang, Dong, Alok Desai, and Dah-Jye Lee. "Using synthetic basis feature descriptor for motion estimation." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880383. http://dx.doi.org/10.1177/1729881418803839.

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Development of advanced driver assistance systems has become an important focus for automotive industry in recent years. Within this field, many computer vision–related functions require motion estimation. This article discusses the implementation of a newly developed SYnthetic BAsis (SYBA) feature descriptor for matching feature points to generate a sparse motion field for analysis. Two motion estimation examples using this sparse motion field are presented. One uses motion classification for monitoring vehicle motion to detect abrupt movement and to provide a rough estimate of the depth of the scene in front of the vehicle. The other one detects moving objects for vehicle surrounding monitoring to detect vehicles with movements that could potentially cause collisions. This algorithm detects vehicles that are speeding up from behind, slowing down in the front, changing lane, or passing. Four videos are used to evaluate these algorithms. Experimental results verify SYnthetic BAsis’ performance and the feasibility of using the resulting sparse motion field in embedded vision sensors for motion-based driver assistance systems.

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26

Redkar, Sangram. "Load Carrying Assistance Device Pogo Suit." IAES International Journal of Robotics and Automation (IJRA) 5, no. 3 (September 1, 2016): 161. http://dx.doi.org/10.11591/ijra.v5i3.pp161-175.

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<span>Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has been simulated, implemented and tested in a robotic backpack which facilitates carrying heavy loads. The device oscillates the load of the backpack, based on the motion of the user, in order to add energy at the correct time and thus reduce the amount of energy required for walking with a heavy load. Models were developed in Working Model 2-D, a dynamics simulation software, in conjunction with MATLAB to verify theory and test control methods. The control system developed is robust and has successfully operated on different users, each with their own different and distinct gait. The results of experimental testing validated the corresponding models.</span>

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27

Fitzsimons, Kathleen, Ana Maria Acosta, Julius P. A. Dewald, and Todd D. Murphey. "Ergodicity reveals assistance and learning from physical human-robot interaction." Science Robotics 4, no. 29 (April 17, 2019): eaav6079. http://dx.doi.org/10.1126/scirobotics.aav6079.

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Анотація:

This paper applies information theoretic principles to the investigation of physical human-robot interaction. Drawing from the study of human perception and neural encoding, information theoretic approaches offer a perspective that enables quantitatively interpreting the body as an information channel and bodily motion as an information-carrying signal. We show that ergodicity, which can be interpreted as the degree to which a trajectory encodes information about a task, correctly predicts changes due to reduction of a person’s existing deficit or the addition of algorithmic assistance. The measure also captures changes from training with robotic assistance. Other common measures for assessment failed to capture at least one of these effects. This information-based interpretation of motion can be applied broadly, in the evaluation and design of human-machine interactions, in learning by demonstration paradigms, or in human motion analysis.

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28

Lee, Hui-Seong. "Kinetic Analysis of Transferring Motion Using Assistance Tools and Lift Transferring Motion During Patient Transfer." Korean Society of Medicine & Therapy Science 10, no. 1 (June 18, 2018): 49–55. http://dx.doi.org/10.31321/kmts.2018.10.1.49.

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29

Lösch, C., N. Nitzsche, C. Maiwald, J. Richter, L. Lehmann, C. Wiede, M. Weigert, and H. Schulz. "Erratum to: Validation of an assistance system for motion analysis." Deutsche Zeitschrift für Sportmedizin/German Journal of Sports Medicine 71, no. 7-8-9 (September 1, 2020): 70–82. http://dx.doi.org/10.5960/dzsm.2020.444.

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30

Yamaguchi, Yuko, Hiromi Yano, Noritaka Kawashima, Kimitaka Nakazawa, and Yuji Ohta. "A device for the knee motion assistance during orthotic gait." Journal of Life Support Engineering 16, Supplement (2004): 73–74. http://dx.doi.org/10.5136/lifesupport.16.supplement_73.

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31

Yuminaka, Yasushi, Motoaki Fujii, Atsuhi Manabe, Makoto Hasegawa, and Naoki Wada. "Rehabilitation Assistance Using Motion Capture Devices and Virtual Reality Feedback." Applied Mechanics and Materials 888 (February 2019): 37–42. http://dx.doi.org/10.4028/www.scientific.net/amm.888.37.

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Анотація:

Physical rehabilitation is required to support functional therapy in patients with restricted function in their body caused by cerebral, spinal, or muscular disorders. We sought to investigate the feasibility of medical and healthcare applications of the Kinect v2 motion capture devices and a head mount display in response to practical medical needs, including: (1) a Timed Up and Go test, and a walking rehabilitation support system; and (2) rehabilitation assistance using virtual reality feedback. The prototype systems demonstrate that the ICT-based rehabilitation equipment offers the objective and effective assessment of physical deficits in patients with conditions such as stroke or Parkinson's disease.

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32

Nishi, Shuichi, Jiro Sakamoto, and Kiyoshi Kawabata. "On Dynamic Motion Analysis of Human with a Power Assistance." Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 2002.14 (2002): 147–48. http://dx.doi.org/10.1299/jsmebio.2002.14.147.

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33

OKADA, Etsuko, Daisuke CHUGO, Kuniaki KAWABATA, Hajime ASAMA, Takuro HATSUKARI, Norihisa MIYAKE, Katsuko KAMIYA, and Kazuhiro KOSUGE. "1P2-B6 Analysis of Standing Up Motion Assistance on Nursing." Proceedings of the JSME Symposium on Welfare Engineering 2005 (2005): 143–46. http://dx.doi.org/10.1299/jsmewes.2005.143.

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34

Chen, Bing, Chun-Hao Zhong, Xuan Zhao, Hao Ma, Xiao Guan, Xi Li, Feng-Yan Liang, et al. "A wearable exoskeleton suit for motion assistance to paralysed patients." Journal of Orthopaedic Translation 11 (October 2017): 7–18. http://dx.doi.org/10.1016/j.jot.2017.02.007.

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35

Imamura, Yumeko, Takayuki Tanaka, Yoshihito Suzuki, Kazuki Takizawa, and Masanori Yamanaka. "Motion-Based-Design of Elastic Material for Passive Assistive Device Using Musculoskeletal Model." Journal of Robotics and Mechatronics 23, no. 6 (December 20, 2011): 978–90. http://dx.doi.org/10.20965/jrm.2011.p0978.

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We are developing a passive power assist device, “Smart Suit Lite.” Smart Suit Lite is a compact, lightweight power assist device that utilizes the elastomeric force of elastic materials. We have developed a “motion-based assist method” in order to design Smart Suit Lite for particular motions. We have also developed an extended musculoskeletal model which has “Skin segments” that aid in analyzing assistive force. In this paper, we target the movements of caregivers. From three-dimensional motion data and an extended musculoskeletal model, we analyze human muscle forces and assistive forces. We then design the arrangement and properties of the elastic materials, based on the motion-based assist method. Finally, we verify its assistance effect through basic experiments.

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36

Aldret, Randy L., Brittany A. Trahan, Greggory Davis, Brian Campbell, and David M. Bellar. "Effects of an Elastic Hamstring Assistance Device During Downhill Running." Journal of Human Kinetics 57, no. 1 (June 22, 2017): 73–83. http://dx.doi.org/10.1515/hukin-2017-0048.

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AbstractThe purpose of this study was to determine the appropriateness of using an elastic hamstring assistance device to reduce perceived levels of soreness, increase isometric strength, increase passive range of motion, and decrease biomarkers of muscle damage after eccentric exercise, specifically, downhill running This study was conducted in a university exercise physiology laboratory placing sixteen apparently healthy males (X = 21.6 ± 2.5 years) into two groups using a pre-test/post-test design. Pre-intervention measures taken included participants’ body height, body mass, body fat, capillary blood samples, VO2max, isometric hamstring strength at 45 and 90 degrees of flexion and passive hamstring range of motion. Post-intervention measures included blood biomarkers, passive range of motion, the perceived level of soreness and isometric strength. An analysis of normality of data was initially conducted followed by multivariate analysis of variance (MANOVA) of hamstring strength at 45 and 90 degrees of flexion, blood myoglobin and passive range of motion of the hamstrings. Statistically significant changes were noted in subject-perceived muscle soreness and isometric strength at 90 degrees at the 24-hour post-exercise trial measure between the two groups. Results would suggest the findings could be explained by the decrease in muscle soreness from utilizing the device during the exercise trial. Further research should be conducted to address sample size issues and to determine if the results are comparable on different surfaces.

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Lehmann, Lars, Christian Wiede, and Gangolf Hirtz. "Individual Avatar Feedback Creation for Assisted Motion Control." Current Directions in Biomedical Engineering 5, no. 1 (September 1, 2019): 617–20. http://dx.doi.org/10.1515/cdbme-2019-0155.

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AbstractIn Medical Training Therapy (MTT), the precise execution of the training exercises is of decisive importance for the success of the therapy. Currently, a therapist has to treat up to 15 patients simultaneously on an outpatient basis. We propose, an assistance system, can evaluate both quantity and quality of the movement performed using a target-oriented model and give recommendations for action directly to the patient by means of feedback. An avatar in traffic light colours signals in which body region an error has occurred. The individualisation of the underlying three-dimensional avatar increases the willingness of the patients to participate in the exercises without the supervision of therapist. The monitored error frequency was decreased by 50% by the assistance system.

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CHUGO, Daisuke, Etsuko OKADA, Kuniaki KAWABATA, Hayato KAETSU, Hajime ASAMA, Norihisa MIYAKE, and Kazuhiro KOSUGE. "2P2-44 Force Assistance System for Standing-Up Motion : 1^ Report: Required Assistance Power for Standing-Up." Proceedings of the JSME Symposium on Welfare Engineering 2005 (2005): 257–60. http://dx.doi.org/10.1299/jsmewes.2005.257.

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39

Frahi, Tarek, Francisco Chinesta, Antonio Falcó, Alberto Badias, Elias Cueto, Hyung Yun Choi, Manyong Han, and Jean-Louis Duval. "Empowering Advanced Driver-Assistance Systems from Topological Data Analysis." Mathematics 9, no. 6 (March 16, 2021): 634. http://dx.doi.org/10.3390/math9060634.

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We are interested in evaluating the state of drivers to determine whether they are attentive to the road or not by using motion sensor data collected from car driving experiments. That is, our goal is to design a predictive model that can estimate the state of drivers given the data collected from motion sensors. For that purpose, we leverage recent developments in topological data analysis (TDA) to analyze and transform the data coming from sensor time series and build a machine learning model based on the topological features extracted with the TDA. We provide some experiments showing that our model proves to be accurate in the identification of the state of the user, predicting whether they are relaxed or tense.

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Wu, Boyin. "Sports Intelligent Assistance System Based on Deep Learning." Scientific Programming 2021 (November 19, 2021): 1–9. http://dx.doi.org/10.1155/2021/3481469.

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Traditional sports aid systems analyze sports data via sensors and other types of equipment and can support athletes with retrospective analysis, but they require several sensors and have limited data. This paper examines a sports aid system that uses deep learning to recognize, review, and analyze behaviors through video acquisition and intelligent video sequence processing. This paper’s primary research is as follows: (1) With an eye on the motion assistance system’s application scenarios, the network topology and implementation details of the two-stage Faster R-CNN and the single-stage YOLOv3 target detection algorithms are investigated. Additionally, training procedures are used to enhance the algorithm’s detection performance and training speed. (2) To address the issue of target detection techniques’ low detection performance in complicated backgrounds, an improved scheme from Faster R-CNN is proposed. To begin, a new approach replaces the VGG-16 network in the previous algorithm with a ResNet-101 network. Second, an expansion plan for the dataset is provided. (3) To address the short duration of action video and the high correlation of image sequence data, we present an action recognition method based on LSTM. To begin, we will present a motion decomposition scheme and evaluation index based on the key transaction frame in order to simplify the motion analysis procedure. Second, the spatial features of the frame images are extracted using a convolutional neural network. Besides, the spatial and temporal aspects of the image sequence are fused using a two-layer bidirectional LSTM network. The algorithm suggested in this research has been validated using a golf experiment, and the results are favorable.

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41

Ceccarelli, Marco, Matteo Bottin, Matteo Russo, Giulio Rosati, Med Amine Laribi, and Victor Petuya. "Requirements and Solutions for Motion Limb Assistance of COVID-19 Patients." Robotics 11, no. 2 (April 4, 2022): 45. http://dx.doi.org/10.3390/robotics11020045.

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COVID-19 patients are strongly affected in terms of limb motion when imbedded during the acute phase of the infection, but also during the course of recovery therapies. Peculiarities are investigated for design requirements for medical devices in limb motion assistance for those patients. Solutions are analyzed from existing medical devices to outline open issues to provide guidelines for the proper adaption or for new designs supporting patients against COVID-19 effects. Examples are reported from authors’ activities with cable driven assisting devices.

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Kawasaki, Haruhisa, Satoshi Ito, Yutaka Nishimoto, Satoshi Ueki, Yasutaka Ishigure, and Tetsuya Mouri. "Hand Motion Assist Robot for Rehabilitation Therapy." Journal of Robotics and Mechatronics 26, no. 1 (February 20, 2014): 103–4. http://dx.doi.org/10.20965/jrm.2014.p0103.

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This report presents a new hand motion assist robot for rehabilitation therapy. The robot has exoskeleton with 18 DOFs and a self-motion control – symmetrical master-slave motion assistance training. It assists independent flexion/extension and abduction/adduction of individual hand joints, thumb opposability, palmar flexion/dorsiflexion of the wrist, and forearm pronation/supination.

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Wieczorek, Bartosz, Łukasz Warguła, and Dominik Rybarczyk. "Impact of a Hybrid Assisted Wheelchair Propulsion System on Motion Kinematics during Climbing up a Slope." Applied Sciences 10, no. 3 (February 4, 2020): 1025. http://dx.doi.org/10.3390/app10031025.

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Overcoming terrain obstacles presents a major problem for people with disabilities or with limited mobility who are dependent on wheelchairs. An engineering solution designed to facilitate the use of wheelchairs are assisted-propulsion systems. The objective of the research described in this article is to analyze the impact of the hybrid manual–electric wheelchair propulsion system on the kinematics of the anthropotechnical system when climbing hills. The tests were carried out on a wheelchair ramp with an incline of 4°, using a prototype wheelchair with a hybrid manual–electric propulsion system in accordance with the patent application P.427855. The test subjects were three people whose task was to propel the wheelchair in two assistance modes supporting manual propulsion. The first mode is hill-climbing assistance, while the second one is assistance with propulsion torque in the propulsive phase. During the tests, several kinematic parameters of the wheelchair were monitored. An in-depth analysis was performed for the amplitude of speed during a hill climb and the number of propulsive cycles performed on a hill. The tests performed showed that when propelling the wheelchair only using the hand rims, the subject needed an average of 13 ± 1 pushes on the uphill slope, and their speed amplitude was 1.8 km/h with an average speed of 1.73 km/h. The climbing assistance mode reduced the speed amplitude to 0.76 km/h. The torque-assisted mode in the propulsive phase reduced the number of cycles required to climb the hill from 13 to 6, while in the climbing assistance mode the number of cycles required to climb the hill was reduced from 12 to 10 cycles. The tests were carried out at various values of assistance and assistance amplification coefficient, and the most optimally selected parameters of this coefficient are presented in the results. The tests proved that electric propulsion assistance has a beneficial and significant impact on the kinematics of manual wheelchair propulsion when compared to a classic manual propulsion system when overcoming hills. In addition, assistance and assistance amplification coefficient were proved to be correlated with operating conditions and the user’s individual characteristics.

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Choi, Hyunjin. "Assistance of a Person with Muscular Weakness Using a Joint-Torque-Assisting Exoskeletal Robot." Applied Sciences 11, no. 7 (March 31, 2021): 3114. http://dx.doi.org/10.3390/app11073114.

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Robotic systems for gait rehabilitation have been actively developed in recent years; many of the rehabilitation robots have been commercialized and utilized for treatment of real patients in hospitals. The first generation of gait rehabilitation robots was a tethered exoskeleton system on a treadmill. While these robots have become a new trend in rehabilitation medicine, there are several arguments about the effectiveness of such robots due to the passiveness of the motions that the robots generate, i.e., the continuous passive motions may limit the active involvement of patients’ voluntary motion control. In order to let a patient be more actively involved by requiring the self-control of whole-body balance, untethered powered exoskeletons, wearable robots that patients can wear and walk on the ground, are receiving great attention. While several powered exoskeletons have been commercialized already, the question about their effectiveness has not been cleared in the viewpoint of rehabilitation medicine because most of the powered exoskeletons provide still continuous passive motions, even though they are on the ground without tethering. This is due to their control strategy; the joints of a powered exoskeleton are position-controlled to repeatedly follow a predefined angle trajectory. This may be effective when a wearer is completely paraplegic such that the powered exoskeleton must generate full actuation power for walking. For people with muscular weakness due to various reasons, the powered exoskeleton must assist only the lack of muscular force without constraining human motion. For assistance and rehabilitation of people with partial impairment in walking ability, Angel Legs is introduced in this paper. The proposed powered exoskeleton system is equipped with a transparent actuation system such that the assistive force is accurately generated. The overall design and control of Angel Legs are introduced in this paper, and a clinical verification with a human subject is also provided.

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45

Huang, Helen J., and Daniel P. Ferris. "Neural coupling between upper and lower limbs during recumbent stepping." Journal of Applied Physiology 97, no. 4 (October 2004): 1299–308. http://dx.doi.org/10.1152/japplphysiol.01350.2003.

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During gait rehabilitation, therapists or robotic devices often supply physical assistance to a patient's lower limbs to aid stepping. The expensive equipment and intensive manual labor required for these therapies limit their availability to patients. One alternative solution is to design devices where patients could use their upper limbs to provide physical assistance to their lower limbs (i.e., self-assistance). To explore potential neural effects of coupling upper and lower limbs, we investigated neuromuscular recruitment during self-driven and externally driven lower limb motion. Healthy subjects exercised on a recumbent stepper using different combinations of upper and lower limb exertions. The recumbent stepper mechanically coupled the upper and lower limbs, allowing users to drive the stepping motion with upper and/or lower limbs. We instructed subjects to step with 1) active upper and lower limbs at an easy resistance level (active arms and legs); 2) active upper limbs and relaxed lower limbs at easy, medium, and hard resistance levels (self-driven); and 3) relaxed upper and lower limbs while another person drove the stepping motion (externally driven). We recorded surface electromyography (EMG) from six lower limb muscles. Self-driven EMG amplitudes were always higher than externally driven EMG amplitudes ( P < 0.05). As resistance and upper limb exertion increased, self-driven EMG amplitudes also increased. EMG bursts during self-driven and active arms and legs stepping occurred at similar times. These results indicate that active upper limb movement increases neuromuscular activation of the lower limbs during cyclic stepping motions. Neurologically impaired humans that actively engage their upper limbs during gait rehabilitation may increase neuromuscular activation and enhance activity-dependent plasticity.

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46

Garcia Velarde, Miguel Angel, Wilberth Melchor Alcocer Rosado, Andres Blanco Ortega, Arturo Abúndez, Claudia Cortés, and Jorge Colin. "LOWER LIMB ASSISTANCE SYSTEMS: A STATE OF THE ART." Latin American Applied Research - An international journal 52, no. 2 (March 25, 2022): 89–99. http://dx.doi.org/10.52292/j.laar.2022.626.

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In this paper, we present a state of the art regarding lower limb assistance systems. That is, exoskeletons, exosuits, actuated orthoses and smart walkers intended to assist users with or without walking difficulties in such task. We focus on those systems headed towards motion intention prediction, especially those that implement myosignals in order to control the system. However, there are some using cortical or encephaloelectric signals. We make clear the importance of developing this technology for the sake of userâ€™s health, when regarding people with reduced motor capacity. After the reviewed systems, we bring forward our own system intended to assist hemiplegic/hemiparetic patients walking by predicting motion intention. The main differentiator of our design shall be energy saving as it is being designed to actuate the hip only during swing phase. Thus, hypothetically allowing the system to save 40% energy, compared to the same system actuated during the whole walking cycle.

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47

Geonea, Ionuț Daniel, Alexandru Margine, Nicolae Dumitru, and Cristian Copiluși. "Design and Simulation of a Mechanism for Human Leg Motion Assistance." Advanced Materials Research 1036 (October 2014): 811–16. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.811.

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Legs are the mostimportant elements for accomplishing human physical work includingtransportation or displacement. In this paper, a new mechanism for human legmotion assistance has been proposed for rehabilitation purposes. The structureof human leg and its motions have been used as inspiration for design purposes.For a simple control algorithm, the proposed mechanism for the legs mustgenerate an ovoid path of the foot, by uniform rotating of actuating crank. Themechanism must generate an approximately linear trajectory of foot duringpropulsion. The resulting linkage is a single degree-of-freedom (DOF)mechanism, which exemplifies the shape and movement of a human leg. Theactuator of the mechanism is located in the upper portion of the linkagesimilar to it in a human leg. The mechanism is simulated and tested to verifythe proposed synthesis. A 3D model of the proposed system has been elaboratedin Solid Works®, booth for design and simulation purposes. Simulation resultsshow that the proposed mechanism performs movements similar to those of a humanleg. Maple and Adams software packages are used to simulate and validate the usabilityof the mechanism. The proposed mechanism demonstrates that a one DOF closedloop mechanical linkage can be designed to the shape and movement of the bipedhuman walking apparatus. The proposed mechanism is suitable for the fabricationof legged robots. Proportions of the linkage are estimated utilizinganthropometric measures of the human leg.

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48

Kang, Bong-Soo, Duk-Hwa Kang, Song-I. Kim, and Woo-Jae Park. "Development of a Wearable Soft Robot for Rehabilitation and Motion Assistance." Journal of Institute of Control, Robotics and Systems 25, no. 3 (March 31, 2019): 255–59. http://dx.doi.org/10.5302/j.icros.2019.19.8001.

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Chen, J. X., H. Wechsler, J. M. Pullen, Ying Zhu, and E. B. MacMahon. "Knee surgery assistance: patient model construction, motion simulation, and biomechanical visualization." IEEE Transactions on Biomedical Engineering 48, no. 9 (2001): 1042–52. http://dx.doi.org/10.1109/10.942595.

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50

Asque, C. T., A. M. Day, and S. D. Laycock. "Augmenting graphical user interfaces with haptic assistance for motion-impaired operators." International Journal of Human-Computer Studies 72, no. 10-11 (October 2014): 689–703. http://dx.doi.org/10.1016/j.ijhcs.2014.05.007.

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