Arm and finger paralysis, e.g. due to brain stem stroke, often results in the inability perform activities of daily living (ADLs) such as eating drinking. Recently, it was shown that a hybrid electroencephalography/electrooculography (EEG/EOG) brain/neural hand exoskeleton can restore function quadriplegics, but unknown whether control paradigm be also used for fluent, reliable safe operation semi-autonomous whole-arm restoring ADLs. To test this, seven abled-bodied participants (seven...

Stroke survivors with chronic paralysis often have difficulties to perform various activities of daily living (ADLs), such as preparing a meal or eating and drinking independently. Recently, it was shown that brain/neural hand exoskeleton can restore finger function, but many stroke suffer from motor deficits affecting their whole upper limb. Therefore, novel hybrid electroencephalography/electrooculography (EEG/EOG)-based control paradigms were developed for guiding whole-arm exoskeleton....

The reference joint position of upper-limb exoskeletons is typically obtained by means Cartesian motion planners and inverse kinematics algorithms with the Jacobian; this approach allows exploiting available Degrees Freedom (i.e. DoFs) robot kinematic chain to achieve desired end-effector pose; however, if used operate non-redundant exoskeletons, it does not ensure that anthropomorphic criteria are satisfied in whole human-robot workspace. This paper proposes a planning system, based on...

This article presents the design of a hand exoskeleton that features its modularity and possibility integrating force sensor in frame. The is achieved by dividing separate units, each one driving finger or pair them. These units “finger modules” have single degree freedom may be easily attached removed from robot frame human fingers snap-in fixations. As for sensing capability, device relies on novel uses optical elements to amplify measure small elastic deformations structure. can fully...

Post-stroke neurorehabilitation based on virtual therapies are performed completing repetitive exercises shown in visual electronic devices, whose content represents imaginary or daily life tasks. Currently, there two ways of visualization these task. 3D environments used to get a three dimensional space that the real world with high level detail, realism is determinated by resolucion and fidelity objects Furthermore, 2D represent tasks low degree using techniques bidimensional graphics....

End-effector robots are commonly used in robot-assisted neuro-rehabilitation therapies for upper limbs where the patient's hand can be easily attached to a splint. Nevertheless, they not able estimate and control kinematic configuration of limb during therapy. However, Range Motion (ROM) together with clinical assessment scales offers comprehensive therapist. Our aim is present robust stable reconstruction algorithm accurately measure joints using only an accelerometer placed onto arm. The...

This work deals with the complex mechanical design task of converting a large pneumatic rehabilitation robot into an electric and compact system for in-home post-stroke therapies without losing performance. It presents new HomeRehab that supports in three dimensions adaptive controller optimizes patient recovery. A preliminary usability test is also conducted to show its performance resembles found RoboTherapist 2D commercial designed hospitals. The novel smart two-dimensional force sensor...

This paper presents a novel kinematic reconstruction of the human arm chain with five degrees freedom and estimation shoulder location during rehabilitation therapy assisted by end-effector robotic devices. algorithm is based on pseudoinverse Jacobian through acceleration upper arm, measured using an accelerometer, orientation shoulder, estimated magnetic angular rate gravity (MARG) device. The results show high accuracy in terms joints movement respect to real optoelectronic system....

Gesture recognition using electromyography (EMG) signals has prevailed recently in the field of human–computer interactions for controlling intelligent prosthetics. Currently, machine learning and deep are two most commonly employed methods classifying hand gestures. Despite traditional already achieving impressive performance, it is still a huge amount work to carry out feature extraction manually. The existing utilize complex neural network architectures achieve higher accuracy, which will...

The use of both hands is a common practice in everyday life. capacity to interact with the environment largely dependent on ability hands. A thorough review current state art reveals that commercially available prosthetic designed for children are very different functionality from those developed adults, primarily due adults featuring greater number actuated joints. Many times, patients stop using their device because they feel it does not fit well terms shape and size. With idea solving...

This paper presents a dynamic adaptive system for administration of robot-assisted therapy. The main novelty the proposed approach is to close patient in loop and use multisensory data (such as motion, forces, voice, muscle activity, heart rate, skin conductance) adaptively dynamically change complexity therapy real-time displays an immersive virtual reality accordance with specific requirements. rehabilitation can be considered complex that composed following subsystems: acquisition,...

The paper presents the developing of a new robotic system for administration highly sophisticated therapy to stroke patients. This is able maximize patient motivation and involvement in continuously assess progress recovery from functional viewpoint. Current rehabilitation systems do not include information on control loop. main novelty presented approach close loop use multisensory data (such as pulse, skin conductance, temperature, position, velocity, etc.) adaptively dynamically change...

This paper presents a microdevice for monitoring, control and management of electric loads at home. The key idea is to compact the electronic design as much possible in order install it inside Schuko socket. Moreover, socket (electronic + socket) has feature communicating with central unit other microdevices over existing powerlines. Using power lines, proposed device can be installed new buildings or old ones. main use this monitor, manage save energy prevent accidents produced by different...

This paper presents the development of a robotic solution for problem fast manipulation and handling onions or artichokes in food industry. The complete consists parallel manipulatior, specially designed end-effector based on customized vacuum suction cup, computer vision software developed pick place operations. First, selection design process proposed to fit with initial requeriments is presented, including cup. Then, kinematic analysis manipulator needed develop robot control system...

This article researches the feasibility of use a multimodal robotic system for upper-limb neurorehabilitation therapies in physical environments, interacting with real objects. consists an end-effector rehabilitation robot, hand exoskeleton, gaze tracking system, object and electromyographic measuring units. For this purpose, architecture is stated, explaining detailed functions each subsystem as well interaction among them. Finally, experimental scenario designed to test healthy subjects...

When combined with assistive robotic devices, such as wearable robotics, brain/neural-computer interfaces (BNCI) have the potential to restore capabilities of handicapped people carry out activities daily living. To improve applicability systems, workload and stress should be reduced a minimal level. Here, we investigated user’s physiological reactions during exhaustive use hybrid control interface. Eleven BNCI-naive healthy volunteers participated in experiments. All participants sat...

This paper presents a novel approach for extracting 3D weld point information using two-stage deep learning pipeline based on readily available 2D RGB cameras. Our method utilizes YOLOv8s object detection, specifically targeting vertices, followed by semantic segmentation precise pixel localization. addresses the challenges posed low-contrast images and complex geometries, significantly reducing costs compared with traditional 3D-based solutions. We demonstrated effectiveness of our through...

Cerebrovascular accident or stroke in aging population is the primary cause of disability and second leading death many countries, including Spain. Arm impairment common recovery partly dependent on intensity frequency rehabilitation intervention. However, physical therapy resources are often limited, so methods supplementing traditional physiotherapy, such as robot assisted therapy, essential. This paper describes design, development control aspects a planar driven by pneumatic swivel...

In this paper, two control strategies to move a planar robot arm with non-invasive spontaneous brain-machine interface (BMI) have been compared. The BMI is based on the correlation of EEG maps and allows differentiating between mental tasks related motor imagery. Using BMI, user able 2D movements in order reach several goals. first strategy hierarchical second one uses directional movement. used PuParm, force-controlled designed developed by nBio research group at Miguel Hernández University...

The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant cooperative 2D system based on information provided two cameras in eye-in-hand/eye-to-hand configurations proposed. Its control law has been defined assure that whole stable if each subsystem allow avoiding typical problems like task singularities, features extraction errors, disappearance image features, local minima, etc. Experimental results...

This article presents the development of a new concept for an assistive robotic device that can help people as needed, considering their residual physical and cognitive abilities, and, at same time, increase abilities in activities daily living (ADLs), such drinking, cooking, eating, personal hygiene, grooming.

Purpose: This paper examines the influence of age on several attributes sensorimotor performance while performing a reaching task. Our hypothesis, based previous studies, is that aged persons will show differences in one or more performance. Patients and methods: Fifty-one subjects (aged 20–80 years) with no known neuromotor disorders upper limbs participated study. Subjects were asked to grasp end-effector pneumatic robotic device two degrees freedom order reach peripheral targets (1.0 cm...