Gait asymmetry caused by hemiparesis results in reduced gait efficiency and activity levels. In this paper, a portable rehabilitation device is proposed that can serve as tool diagnosing abnormalities individuals with stroke has the capability of providing vibration feedback to help compensate for asymmetric gait. Force-sensitive resistor (FSR) based insoles are used detect ground contact estimate stance time. A controller (Arduino) provides different on phase measurement. It also allows...

Although road-based freight transport has large external costs, it currently dominates the hinterland cargo sector in Europe. An increase of automation levels inland vessels could advance their competitiveness, hence unlocking more sustainable transport. Moreover, these improvements pave way for a potential future paradigm shift towards unmanned vessels. Therefore, this study investigates design an experimental platform order to feasibility and current or limitations To explore design,...

Haptic control is a useful therapeutic option in rehabilitation featuring virtual reality interaction. As with visual and vibrotactile biofeedback, kinesthetic haptic feedback may assist postural control, can achieve balance control. Kinesthetic terms of body sway be delivered via commercially available device enhance the stability both young healthy subjects stroke patients. Our system features waist-attached smartphone, software running on computer (PC), dedicated Phantom Omni® device....

Augmenting the automation level of inland waterway cargo transport sector, coupled with mechatronic innovation in this could increase its competitiveness. This might potentially induce a sustainable paradigm shift road-dominated sector. A key enabler envisaged may be an shore control centre (I-SCC) capable remotely monitoring and controlling vessels. Accordingly, study investigated concept design requirements to achieve I-SCC that provides interaction services when supervising unmanned...

A biofeedback-based balance training system can be used to provide the compromised sensory information subjects in order retrain their sensorimotor function. In this study, design and evaluation of low-cost, intuitive biofeedback developed at Gyeongsang National University is extended multimodal for by utilization visual haptic modalities. The consists a smartphone attached waist subject about tilt torso, personal computer running purpose built software process data means dedicated monitor...

Magnetic drug targeting is a promising technique that can deliver drugs to the diseased region, while keeping away from healthy parts of body. Introducing human in control loop targeted delivery system and using inherent bilateralism haptic device at same time considerably improve performance systems. In this paper, we suggest novel intelligent guidance scheme for steering number magnetic nanoparticles (MNPs) forbidden region virtual fixtures rendering with multi particles. Forbidden are...

Variations in biofeedback coding schemes for postural control, recent research, have shown significant differences performance outcomes due to variations schemes. However, the application of vibrotactile gait symmetry training is not well explored. In this paper, we devised various modes and identified their efficacy during individuals suffering from hemiparesis stroke. These are composed vibration type (on-time or intensity), relation (proportional inversely-proportional) with error ratio....

In this article, a novel lower extremity gait rehabilitation device with single actuator is presented. The proposed device, Mech-Walker, utilizes the single-degree of freedom eight-bar Jansen's mechanism. mechanism synthesized to generate ankle trajectory human gait, relative hip, in terms both position and time. Two mechanisms, one for each leg, are applied reciprocally mechanically synchronized guarantee symmetric gait. A custom designed seat-type weight support system mounted over...

Integration of kinesthetic and tactile cues for application to post-stroke gait rehabilitation is a novel concept which needs be explored. The combined provision haptic may result in collective improvement parameters such as symmetry, balance muscle activation patterns. Our proposed integrated cue system can offer cost-effective voluntary training experience subjects with unilateral hemiparetic stroke. Ten ambulatory participated 10 m walking trial while utilizing the (either alone or...

Abstract Background Although deep neural networks (DNNs) are showing state of the art performance in clinical gait analysis, they considered to be black-box algorithms. In other words, there is a lack direct understanding DNN’s ability identify relevant features, hindering acceptance. Interpretability methods have been developed ameliorate this concern by providing way explain DNN predictions. Methods This paper proposes use an interpretability method decisions for classifying movement that...

This paper evaluates the prospects of using a novel Integrated Haptic Feedback (IHF) system. IHF can provide over-ground gait training regimens for post-stroke ambulatory subjects. system combines use portable cane kinesthetic feedback and wearable vibrotactor array tactile feedback. Continuous somatosensory input is aiforded to users at handle cane; it serves purpose balance assurance higher speeds. Besides, restricted upper limb weight-bearing inspires involve paretic lower limbs more...

The aim of gait rehabilitation is to achieve independent ambulation. Somatosensory augmentation with external haptic sources can improve the subject's ability walk or stand. This paper presents development and evaluation a robotic system prototype that delivers forces aid overground rehabilitation. portable based on compact, mobile robot equipped force LIDAR sensors. flexibly linked user, which allows interaction between user machine be halted when desired. During operation, dynamically...

Abstract This study describes the actuation design and construction of an unmanned scale model inland vessel type CEMT-I. proposed could help to increase competitiveness smaller vessels which are slowly diminishing. Moreover, this idea aligns with ambition European Commission cargo flow over waterborne transport. Therefore, scaled down a recently designed barge project Watertruck+. These barges have 360-degrees-steerable steering grid in bow together four-channel thruster at stern....

Among most existing gait rehabilitation robots, it is difficult to find adequate devices for of chronic stroke patients who can already stand and move but still need rehabilitate the affected lower limb through simple, compact, easy-to use devices. This paper presents a novel haptic based system (HGRS) which has potential provide over-ground training regimens post-stroke ambulatory subjects. It consists portable cane kinesthetic sensing wearable vibrotactor array tactile biofeedback. Contact...

Rehabilitation is suggested to be achieved by natural walk, and it may require assistive devices. Assistance provided should motivate the patient use his own muscle strength rather than dependent upon device. Therefore, devices only provide minimum support required for safety, stability, confidence building guidance. These can with light touch cue at patient's hands. The proposed haptic cane design has an active handle that give depending body orientation sensed through smartphone....

Bio-Mechatronics is the field that deals with passive and active prosthetic limb design. The conventional prosthesis carries constant mechanical properties so motion of joints not similar to humans while type more realistically represents human motion. latter however, expensive than consumes energy. Semi-active less but its results are very much it a better solution control gait artificially. This research based on design leg can simulate pattern normal person's gait. divided into two parts:...

Aging, injury, or ailments can contribute to impaired balance control and increase the risk of falling. Provision light touch augments sense thus reduce amount body sway. In this study, a wearable reaction wheel-based system is used deliver touch-based biofeedback on subject’s back. The torso tilt and, using wheels, generates touch. A group 7 healthy young individuals performed tasks under 12 trial combinations based two conditions each standing stance surface types three device status....

In this paper, a novel, low-cost lower extremity gait rehabilitation device using single actuator is presented. The proposed based on DOF 8-bar Jansen mechanism, which was recently introduced as an efficient walking mechanism for legged robots. synthesized to generate the ankle trajectory during human relative hip, in terms of both position and time. Two mechanisms, one each limb, are applied reciprocally mechanically synchronized guarantee symmetric gait. A custom designed seat-type weight...

Gait rehabilitation following stroke is often stated as the primary goal to improve quality of life. A wearable augmented feedback system which provides vibrotactile cues for post-stroke gait training presented in this research. The capable determining temporal parameters and thus identifies irregularities. pair custom-made insole, containing four Force Sensitive Resistors (FSRs) each, being utilized detect phase information. Each Insole connected a lilypad Arduino. Besides, communicates...

Physical therapy involving the use of varying types seating surface and visual input is recommended for individuals suffering from trunk instability. Some robots have been developed to assist in such protocols, but none them fully constrains user's lower extremities move with seat, which required transfer task maintaining balance trunk. To fulfill this requirement, we a robot that can provide static, unstable or forced perturbation surface. The instability provided by having follow movements...

Haptic device can be a useful rehabilitation tool in balance training. The proposed system is composed of body-wear smartphone, Phantom Omni(R) device, and its control PC system. Ten young healthy subjects performed tasks with different postures during 30 seconds their eyes closed. An Android program on the smartphone transferred mediolateral (ML) anteroposterior (AP) tilt angles to system, which generate haptic command through device. Statistical data analysis was using MATLAB(R). COP...

The European Watertruck + project introduced a new fleet of self-propelled inland cargo barges to the waters, in order induce more sustainable freight transport hinterland. An augmentation automation level this could further advance their competitiveness and potentially pave way for unmanned vessels. motion control such vessel forms key component envisaged chain benefits from knowledge capabilities propulsion system, which here envelops 360-degrees-steerable steering-grid thruster...

This paper presents a framework that uses robot skills as building blocks to ease programming. The presented is geared towards industrial usage and attempts lower the technological barrier for workers not just operate robots on their factory floor but also program them. By lowering complexity of programming in vendor-independent fashion, it becomes possible companies with need reprogram frequently automate operations.The built top ROS2 middleware 3-layered architecture provide reusable are...