Due to their small size and flexibility, fiber Bragg grating (FBG) sensors have been integrated into needle-sized continuum robots for shape estimation force measurement. The challenge in extending previous sensing technologies pre-curved robots, such as concentric-tube is that torsion information essential accurate estimation, the force-strain relationship nonlinear. In this letter, a novel helically wrapped FBG sensor design corresponding force-curvature-strain model are developed provide...

The hand extension robot orthosis (HERO) glove was iteratively designed with occupational therapists and stroke survivors to enable severe impairment grasp stabilize everyday objects, while being portable, lightweight, easy set up use. consists of a batting artificial tendons embedded into the glove's fingers. are pulled pushed by linear actuator extend flex robot's finger assistance automated using inertial measurement unit signal thresholds. Five (Chedoke McMaster Stroke Assessment - Stage...

The Hand Extension Robot Orthosis (HERO) Grip Glove was iteratively designed to meet requests from therapists and persons after a stroke who have severe hand impairment create device that extends all five fingers, enhances grip strength is portable, lightweight, easy put on, comfortable affordable.Eleven minimal or no active finger extension (Chedoke McMaster Stage of 1-4) post-stroke were recruited evaluate how well they could perform activities daily living function assessments with...

Wearable robots controlled using electromyography could motivate greater use of the affected upper extremity after stroke and enable bimanual activities daily living to be completed independently.We have developed a myoelectric untethered robotic glove (My-HERO) that provides five-finger extension grip assistance.The controller detected release intents 9 participants with 84.7% accuracy. While My-HERO, all performed better on Fugl-Meyer Assessment-Hand (8.4 point increase, scale out 14, p <...

Soft robotics is gaining interest in rehabilitation applications, bringing new opportunities to offset the loss of upper limb motor function following neurological, neuromuscular, or traumatic injuries. Unlike conventional rigid robotics, added softness linkages joints promises make robots compliant, which translates into higher levels safety, comfort, usability, and portability, opening door for these technologies be used daily life. While several reviews documented different technical...

This paper presents the development and application of an approach for sensorizing a surgical robotic instrument two degree-of-freedom (DOF) lateral force sensing. The sensorized is compatible with da Vinci® Surgical System can be used skills assessment control in specific tasks. sensing technology utilizes novel layout four fiber Bragg grating (FBG) sensors attached to shaft instrument. cross-section insensitive error caused by combined torque loads, orientation minimizes condition number...

Concentric-tube robots (CTR) consist of a series pre-curved flexible tubes that make up the robot structure and provide high dexterity required for performing surgical tasks in constrained environments. This special design introduces new challenges shape sensing as large twisting is experienced by torsionally compliant structure. In literature, fiber Bragg grating (FBG) sensors are attached to needle-sized continuum curvature sensing, but they limited obtaining bending curvatures since...

Haptic communication, the exchange of force and tactile information during dancing or moving a table together, has been shown to benefit performance human partners. Similarly, it could also be used improve robots working in contact with operator. As we move more robot integrated workspaces, how common network features such as delay jitter impact haptic communication need better understood. Here using human-like interactive robotic controller, that found indistinguishable by humans...

Robotic exoskeletons are emerging as rehabilitation and assistive technologies that simultaneously restore function enable independence for people with disabilities.We investigated the feasibility orthotic restorative effects of an exoskeleton-supported goal-directed program hand impairments after stroke or Spinal Cord Injury (SCI).A single-arm case-series study was conducted using a wearable untethered exoskeleton during therapy programs in-clinic at-home components. Therapists trained SCI...

The increasing popularity of catheter-based ablation therapy in treating cardiac arrhythmia has motivated researchers to seek new techniques improve the accuracy and efficiency such procedures. After guiding catheter through vessels into heart chambers, precise positioning tip consistent tool/tissue contact force are two factors that greatly affect outcome. Implementing force/position control will efficacy procedures immensely. This paper proposes a model-based system ensure desired at...

This article describes how a tablet-based communication technology designed for older adults was explored its adoption and impact on family relationships. A case study methodology employed to collect analyze interviews, field notes, observations messaging activity over 12 week period. Twelve participants, eight with Montreal Cognitive Assessment (MoCA) score suggestive of Mild Impairment (MCI), were paired student learn use InTouch. 1212 messages sent, from which text, audio, photo, video...

This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed six-degree-of-freedom actuation mechanism large workspace regimens. With small footprint, lightweight, low-cost design wireless interface this portable well-suited at-home in-clinic use. A custom force/torque sensor was developed to measure real-time patient forces, an...

Combining functional electrical stimulation (FES) and robotics may enhance recovery after stroke, by providing neural feedback with the former while improving quality of motion minimizing muscular fatigue latter. Here, we explored whether how FES, robot assistance their combination, affect users’ performance, effort, user experience. 15 healthy participants performed a wrist flexion/extension tracking task FES and/or robotic assistance. Tracking performance improved during hybrid FES-robot...

Abstract Background Use of standardized and scientifically sound outcome measures is encouraged in clinical practice research. With the development newer rehabilitation therapies, we need technology-supported upper extremity that are easily accessible, reliable valid. 3‐Dimensional printing (3D-printing) has recently seen a meteoric rise interest within medicine including field Physical Medicine Rehabilitation. The primary objective this study was to evaluate feasibility designing...

Social connectedness and participation in meaningful activities can help individuals with dementia maintain a sense of belonging, stay independent at home longer, slow cognitive decline, increase life satisfaction, promote aging place. However, there is lack consolidated resources to support the fulfillment their social needs after diagnosis. There are some websites online information boards dementia; however, amount be overwhelming because it not adapted needs. The demand facilitate for...

This work presents preliminary results of a clinical study with sub-acute stroke patients using hybrid system for wrist rehabilitation. The trained their flexion/extension motion through target tracking task, where electrical stimulation and robotic torque assisted them proportionally to error. Five have completed the training 3 sessions on separate days. show assistance improves performance smoothness in most participants. In each session, patients' performances before after were evaluated...

Wearable robotic hand orthoses have been shown to improve grasp kinematics and task performance. However, these devices often multiple usability issues related their weight, size, backdrivability, tethers power storage actuation units. Our team has designed an all-in-one orthosis that can be adhered directly the finger applies assistive bending extension forces. The robot is composed of ionic polymer-metal composite (IPMC) actuator flexible, slim lightweight, a lithium-polymer battery...

Abstract Background: Use of standardized and scientifically sound outcome measures is highly encouraged in clinical practice research. Researchers have identified that with the development newer rehabilitation therapies we need technology-supported upper extremity are easily accessible can measure change consistently reliably. 3‐dimensional printing (3D-printing) has recently seen a meteoric rise interest within medicine including field Physical Medicine Rehabilitation. The primary objective...