Co-Planar Stereotaxic Atlas of the Human Brain—3-Dimensional Proportional System: An Approach to Cerebral Imaging, J. Talairach, P. Tournoux. Georg Thieme Verlag, New York (1988), 122 pp., 130 figs. DM 268

Data Mining Practical Machine Learning Tools and Techniques

https://www.cs.cmu.edu/~illah/PAPERS/socialroboticssurvey.pdf

A survey of socially interactive robots

Loss of functional movement is a common consequence of stroke for which a wide range of interventions has been developed. In this Review, we aimed to provide an overview of the available evidence on interventions for motor recovery after stroke through the evaluation of systematic reviews, supplemented by recent randomised controlled trials. Most trials were small and had some design limitations. Improvements in recovery of arm function were seen for constraint-induced movement therapy, electromyographic biofeedback, mental practice with motor imagery, and robotics. Improvements in transfer ability or balance were seen with repetitive task training, biofeedback, and training with a moving platform. Physical fitness training, high-intensity therapy (usually physiotherapy), and repetitive task training improved walking speed. Although the existing evidence is limited by poor trial designs, some treatments do show promise for improving motor recovery, particularly those that have focused on high-intensity and repetitive task-specific practice.

https://www.thelancet.com/pdfs/journals/laneur/PIIS1474-4422(09)70150-4.pdf

Motor recovery after stroke: a systematic review

The journal of neuroscience : the official journal of the Society for Neuroscience.

The purpose of this study was to find a reproducible estimate of passive wrist joint impedance. Six healthy subjects were exposed to constant velocity perturbations in flexion -extension and abduction -adduction. Subjects were asked not to interfere; absence of muscle activity was verified through EMG recordings. Torque / angle relations showed that the static impedance of the wrist joint could conveniently be described by four linear stiffness curves, corresponding to each side of the neutral position in both DOF. These stiffness values were all significantly different. They were also reproducible for each subject and comparable between all subjects. The results also showed a consistent hysteresis loop. The stiffness values are comparable to previous studies, although to our knowledge no previous study recorded a significant difference between stiffness on each side of the neutral position. This difference was hypothesized to be caused by the sum of muscle volume that has to be lengthened. Hysteresis was linked to history dependent behavior of the muscles.

Passive Wrist Joint Impedance in Flexion - Extension and Abduction - Adduction

A robotic rehabilitation apparatus and method provide subjects with lower limb gait impairment, gait therapy before subjects are able to walk independently, or are able to control their legs or stand unaided. The apparatus is constructed and arranged to take advantage of natural gravitational force and musculo-skeletal dynamics of therapy subjects, and to replicate gait in subjects without manual or mechanical intervention to lift subjects' legs and feet. The apparatus and method provide the appropriate dynamic and sensory inputs to muscle groups occurring during normal gait that are critical to gait rehabilitation.

Dynamic lower limb rehabilitation robotic apparatus and method of rehabilitating human gait

Inspired by previous research on the promising internal model-based impedance control (IMBIC) scheme, it was implemented and experiments were undertaken to determine the stochastic estimation of human arm impedance. A 2-DOF selective compliant assembly robot arm (SCARA) robot with significant nonlinear frictions was used in the experiments in order to test the accuracy and reliability of the estimation under nonlinear frictions, with the IMBIC and with a proportional derivative (PD) control, respectively. After the stochastic estimation method with the SCARA robot and the IMBIC was validated using a spring array, the method was applied to the estimation of human arm impedance. The experimental results demonstrated that the stochastic estimation using the IMBIC yields accurate and reliable estimations even under substantial frictions: the multiple coherence functions exceeded 0.95 throughout the frequency range investigated and the estimated magnitudes and phases matched well with a second-order best-fit model. Furthermore, the best-fit model demonstrated reasonable agreement with the results of previous research. The stochastic estimation using the IMBIC has also demonstrated effectiveness in the estimation of human arm impedance using conventional robots.

Stochastic Estimation of Human Arm Impedance Using Robots With Nonlinear Frictions: An Experimental Validation

In this paper, we discuss a strategy for the adaptation of the “difficulty level” in games intended to include motor planning during robotic rehabilitation. We consider concurrently the motivation of the user and his/her performance in a Pong game. User motivation is classified in three levels (not motivated, well motivated and overloaded). User performance is measured as a combination of knowledge of results-achieved goals and score points in the game — and knowledge of performance — joint displacement, speed, aiming, user work, etc. Initial results of a pilot test with unimpaired healthy young volunteers are also presented showing a tendency for individualization of the parameter values.

Adaptive strategy for multi-user robotic rehabilitation games

Previous work has expanded the planar MIT-MANUS to include an anti-gravity robot for shoulder-and-elbow and wrist robot. In this paper we present the "missing link": a hand module. We will discuss in detail the design and characterization of this module. It consists of a single degree of freedom mechanism in a novel statorless configuration, which enables rehabilitation of grasping. The system uses the kinematic configuration of a double crank and slider where the members are linked to stator and rotor; a free base motor, i.e., a motor having two rotors that are free to rotate instead of a fixed stator and a single rotatable rotor. A cylindrical structure, made of six panels and driven by the relative rotation of the rotors, is able to increase its radius linearly, moving or guiding the hand of the patients during grasping This module completes our development of robots for the upper-extremity affording for the first time a whole-arm rehabilitation experience.

Hermano Igo Krebs

Papers

Passive Wrist Joint Impedance in Flexion - Extension and Abduction - Adduction

Dynamic lower limb rehabilitation robotic apparatus and method of rehabilitating human gait

Stochastic Estimation of Human Arm Impedance Using Robots With Nonlinear Frictions: An Experimental Validation

Adaptive strategy for multi-user robotic rehabilitation games

Design, Characterization, and Impedance Limits of a Hand Robot