A5032492086- Stroke Rehabilitation and Recovery
- Muscle activation and electromyography studies
- Prosthetics and Rehabilitation Robotics
- Spinal Cord Injury Research
- Cerebral Palsy and Movement Disorders
- Advanced Sensor and Energy Harvesting Materials
- Assistive Technology in Communication and Mobility
- Motor Control and Adaptation
- Robot Manipulation and Learning
- Muscle Physiology and Disorders
- Botulinum Toxin and Related Neurological Disorders
- Neuroscience and Neural Engineering
- Robotic Locomotion and Control
- Transcranial Magnetic Stimulation Studies
- Context-Aware Activity Recognition Systems
- Gaussian Processes and Bayesian Inference
- Teleoperation and Haptic Systems
- Peripheral Artery Disease Management
- Gaze Tracking and Assistive Technology
- Congenital Heart Disease Studies
- EEG and Brain-Computer Interfaces
- AI in Service Interactions
- Biomedical and Engineering Education
- Balance, Gait, and Falls Prevention
- Virtual Reality Applications and Impacts
Universitat Politècnica de Catalunya
2019-2023
Clínica Diagonal
2020-2023
Institut de Robòtica i Informàtica Industrial
2019-2023
Sant Joan de Déu Research Foundation
2022
Institut de Recerca Sant Joan de Déu
2022
Roessingh Research and Development
2022
University of Twente
2012-2022
University of Bern
2022
University of California, Irvine
2017-2021
Irvine University
2017-2018
In this paper, a new hand and wrist exoskeleton design, the SCRIPT Passive Orthosis (SPO), for rehabilitation after stroke is presented. The SPO wrist, hand, finger orthosis that assists individuals suffer from impairments caused by spasticity abnormal synergies. These are characterized in excessive involuntary flexion torques make unable to be used many activities daily life. can passively offset these undesired torques, but it cannot actively generate or control movements. user needs use...
Persons suffering from progressive muscular weakness, like those with Duchenne dystrophy (DMD), gradually lose the ability to stand, walk and use their arms. This hinders them performing daily activities, social participation being independent. Wheelchairs are used overcome loss of walking. However, there currently few efficient functional substitutes support Arm supports or robotic arms can be mounted wheelchairs aid in arm motion, but they quite visible (stigmatizing), limited...
While there is an extensive number of studies on the development and evaluation electromyography (EMG)- force-based control interfaces for assistive devices, no have focused testing these strategies specific case adults with Duchenne muscular dystrophy (DMD). This paper presents a feasibility study use EMG force as operation active arm supports men DMD. We built experimental elbow support, threefold objective: 1) to investigate whether adult DMD could EMG- interfaces; 2) evaluate their...
Studies on robotic interventions for gait rehabilitation after stroke require: (i) rigorous performance evidence; (ii) systematic procedures to tune the control parameters; and (iii) combination of modes. In this study, we investigated how individuals responded training two weeks with a knee exoskeleton (ABLE-KS) using both Assistance Resistance modes together auditory feedback train peak flexion angle. During training, torque provided by ABLE-KS biofeedback were systematically adapted based...
The performance capabilities and limitations of control interfaces for the operation active movement-assistive devices remain unclear. Selecting an optimal interface application requires a thorough understanding multiple interfaces.In this study EMG-, force- joystick-based were assessed in healthy volunteers with screen-based one-dimensional position-tracking task. participants had to track target that was moving according multisine signal bandwidth 3 Hz. velocity cursor proportional signal....
Abstract Recovering the ability to stand and walk independently can have numerous health benefits for people with spinal cord injury (SCI). Wearable exoskeletons are being considered as a promising alternative conventional knee-ankle-foot orthoses (KAFOs) gait training assisting functional mobility. However, comparisons between these two types of devices in terms biomechanics energetics been limited. Through randomized, crossover clinical trial, this study compared use knee-powered lower...
Abstract Learning from demonstration allows to encode task constraints observing the motion executed by a human teacher. We present Gaussian-process-based learning (LfD) approach that robots learn manipulation skills demonstrations of By exploiting potential Gaussian process (GP) models offer, we unify in single, entirely GP-based framework, main features required for state-of-the-art LfD approach. address how GP can be used effectively policy trajectories space. To achieve an effective...
Recent studies on ankle exoskeletons have shown the feasibility of this technology for post-stroke gait rehabilitation. The main contribution present work is a comprehensive experimental analysis and protocol that focused evaluating wide range biomechanical, usability users' perception metrics under three different walking conditions: without exoskeleton, with an exoskeleton unpowered, powered. To carry out study, we developed ABLE-S can provide time-adapted plantarflexion dorsiflexion...
Abstract Background Robotic lower-limb exoskeletons have the potential to provide additional clinical benefits for persons with spinal cord injury (SCI). However, high variability between protocols does not allow comparison of study results on safety and feasibility different exoskeletons. We therefore incorporated key aspects from previous studies into our protocol accordingly conducted a multicentre investigating safety, usability ABLE Exoskeleton in settings. Methods In this prospective...
Passive gravity compensation in exoskeletons significantly reduces the amount of torque and energy needed from actuators. So far, no design has been able to achieve perfect balance without compromising exoskeleton characteristics. Here we propose a novel that integrates an existing statically-balanced mechanism with two springs four degrees freedom into general-purpose design, can support any percentage combined weight arm. As it allows for three rotational at shoulder one elbow, does not...
People with muscular weakness can benefit from arm supports that compensate the weight of their arms. Due to disuse arms, passive joint stiffness increases and providing only gravity compensation becomes insufficient support function. Hence, is also required, for which use active essential. Force-based control interfaces are a solution operation supports. A critical aspect force-based interfaces, properly detect movement intention user, ability distinguish voluntary forces any other force,...
Adults with Duchenne muscular dystrophy (DMD) can benefit from active arm supports that augment the residual motion capabilities of their arms. While there is a considerable number exoskeletons commercially available for rehabilitation purposes, no supporting function during performance activities daily living (ADL) are available. In this paper, we present Active A-gear, wearable five degree-of freedom exoskeleton has been specially developed to assist people DMD ADL. The A-Gear built upon...
Adults with Duchenne muscular dystrophy (DMD) can benefit from devices that actively support their arm function. A critical component of such is the control interface as it responsible for human-machine interaction. Our previous work indicated surface electromyography (sEMG) and force-based active gravity joint-stiffness compensation were feasible solutions elbow movements (one degree freedom). In this paper, we extend evaluation sEMG- interfaces to simultaneous proportional planar (two...
Virtual Reality (VR) has proven to be an effective tool for motor (re)learning. Furthermore, with the current commercialization of low-cost head-mounted displays (HMDs), immersive virtual reality (IVR) become a viable rehabilitation tool. Nonetheless, it is still open question how environments should designed enhance learning, especially support learning complex tasks. An example such task triggering steps while wearing lower-limb exoskeletons as requires several sub-tasks, e.g., shifting...
Cervical spinal cord injury and acquired brain commonly imply a reduction in the upper extremity function which complicates, or even constrains, performance of basic activities daily living. Neurological rehabilitation specialised hospitals is common treatment for patients with neurological disorders. This study presents practical methodology objective quantitative evaluation motion during an activity living those subjects. A new biomechanical model (with 10 rigid segments 20 degrees...
Robotic arm supports aim at improving the quality of life for adults with Duchenne muscular dystrophy (DMD) by augmenting their residual functional abilities. A critical component robotic is control interface, as it responsible human-machine interaction. Our previous studies showed feasibility using surface electromyography (sEMG) a interface to operate in DMD (22-24 years-old). However, biomedical engineering community there an often raised skepticism on whether last stage disease have sEMG...
Currently, a considerable group of adult Duchenne Muscular Dystrophy patients lives with severe physical impairments and strong dependency on care. Active arm supports can improve their quality life by augmenting arm's residual motor capabilities. This paper presents the design control an experimental active elbow support specially made to investigate different interfaces DMD patients. The system be controlled either EMG or force signals which are used as inputs for admittance-based...
Robotic devices can train strength, coordination, or a combination of both. If robotic device focuses on what happens to strength recovery, and vice versa? Understanding this interaction could help optimize training. We developed computational neurorehabilitation model gain insight into the between coordination recovery after stroke. In model, motor system recovers by optimizing activity residual corticospinal cells (focally connected, excitatory inhibitory) reticulospinal (diffusely...
Adults with Duchenne muscular dystrophy (DMD), due to their severe weakness, cannot benefit from passive arm supports that only compensate for the weight of arms. Active can potentially enable adults DMD perform activities daily living, improving independence, and increasing participation in social activities. In this paper we present A-Arm, an inconspicuous simple planar active support be controlled force- or EMG-based interfaces. The A-Arm is intended replace rest wheelchair assist during...
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present novel robot whole-body transfer framework. We propose general solution the correspondence problem, namely mapping between observed posture one. For achieving real-time imitation effective redundancy resolution, use control paradigm, proposing specific task hierarchy,...