scholarly journals A Haptic Display for Robotic Rehabilitation of Stroke

2006 ◽  
Author(s):  
Pradeep Natarajan ◽  
Wen Liu ◽  
Josh Oechslin ◽  
Arvin Agah
Keyword(s):  
Haptic Display ◽  
Robotic Rehabilitation

scholarly journals Three-Axis Pneumatic Haptic Display for the Mechanical and Thermal Stimulation of a Human Finger Pad

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 60
Author(s):  
Eun-Hyuk Lee ◽  
Sang-Hoon Kim ◽  
Kwang-Seok Yun
Keyword(s):  
Pulse Width Modulation ◽  
Haptic Feedback ◽  
Control Function ◽  
Lateral Displacement ◽  
Gain Control ◽  
Haptic Display ◽  
Positional Accuracy ◽  
Control Module ◽  
Haptic Displays ◽  
Human Finger

Haptic displays have been developed to provide operators with rich tactile information using simple structures. In this study, a three-axis tactile actuator capable of thermal display was developed to deliver tactile senses more realistically and intuitively. The proposed haptic display uses pneumatic pressure to provide shear and normal tactile pressure through an inflation of the balloons inherent in the device. The device provides a lateral displacement of ±1.5 mm for shear haptic feedback and a vertical inflation of the balloon of up to 3.7 mm for normal haptic feedback. It is designed to deliver thermal feedback to the operator through the attachment of a heater to the finger stage of the device, in addition to mechanical haptic feedback. A custom-designed control module is employed to generate appropriate haptic feedback by computing signals from sensors or control computers. This control module has a manual gain control function to compensate for the force exerted on the device by the user’s fingers. Experimental results showed that it could improve the positional accuracy and linearity of the device and minimize hysteresis phenomena. The temperature of the device could be controlled by a pulse-width modulation signal from room temperature to 90 °C. Psychophysical experiments show that cognitive accuracy is affected by gain, and temperature is not significantly affected.

scholarly journals Identification of Words and Phrases Through a Phonemic-Based Haptic Display

2021 ◽  
Vol 18 (3) ◽  
pp. 1-22
Author(s):  
Charlotte M. Reed ◽  
Hong Z. Tan ◽  
Yang Jiao ◽  
Zachary D. Perez ◽  
E. Courtenay Wilson
Keyword(s):  
Speech Communication ◽  
Haptic Display ◽  
Communication Aids ◽  
Remote Communication ◽  
Computer Interfaces ◽  
Speech Reception ◽  
Communication Device ◽  
Human Computer Interfaces ◽  
Sensory Impairments ◽  
Effective Transmission

Stand-alone devices for tactile speech reception serve a need as communication aids for persons with profound sensory impairments as well as in applications such as human-computer interfaces and remote communication when the normal auditory and visual channels are compromised or overloaded. The current research is concerned with perceptual evaluations of a phoneme-based tactile speech communication device in which a unique tactile code was assigned to each of the 24 consonants and 15 vowels of English. The tactile phonemic display was conveyed through an array of 24 tactors that stimulated the dorsal and ventral surfaces of the forearm. Experiments examined the recognition of individual words as a function of the inter-phoneme interval (Study 1) and two-word phrases as a function of the inter-word interval (Study 2). Following an average training period of 4.3 hrs on phoneme and word recognition tasks, mean scores for the recognition of individual words in Study 1 ranged from 87.7% correct to 74.3% correct as the inter-phoneme interval decreased from 300 to 0 ms. In Study 2, following an average of 2.5 hours of training on the two-word phrase task, both words in the phrase were identified with an accuracy of 75% correct using an inter-word interval of 1 sec and an inter-phoneme interval of 150 ms. Effective transmission rates achieved on this task were estimated to be on the order of 30 to 35 words/min.

scholarly journals Development of a Virtual Reality Simulator for an Intelligent Robotic System Used in Ankle Rehabilitation

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1537
Author(s):  
Florin Covaciu ◽  
Adrian Pisla ◽  
Anca-Elena Iordan
Keyword(s):  
Virtual Reality ◽  
Muscle Activity ◽  
Human Subject ◽  
Robotic System ◽  
Virtual Reality Simulator ◽  
Robotic Rehabilitation ◽  
Rehabilitation Process ◽  
Leg Muscles ◽  
Ankle Rehabilitation ◽  
And Control

The traditional systems used in the physiotherapy rehabilitation process are evolving towards more advanced systems that use virtual reality (VR) environments so that the patient in the rehabilitation process can perform various exercises in an interactive way, thus improving the patient’s motivation and reducing the therapist’s work. The paper presents a VR simulator for an intelligent robotic system of physiotherapeutic rehabilitation of the ankle of a person who has had a stroke. This simulator can interact with a real human subject by attaching a sensor that contains a gyroscope and accelerometer to identify the position and acceleration of foot movement on three axes. An electromyography (EMG) sensor is also attached to the patient’s leg muscles to measure muscle activity because a patient who is in a worse condition has weaker muscle activity. The data collected from the sensors are taken by an intelligent module that uses machine learning to create new levels of exercise and control of the robotic rehabilitation structure of the virtual environment. Starting from these objectives, the virtual reality simulator created will have a low dependence on the therapist, this being the main improvement over other simulators already created for this purpose.

KABUTO: Inducing Upper-Body Movements using a Head Mounted Haptic Display with Flywheels

2020 ◽  
Author(s):  
Taku Tanichi ◽  
Futa Asada ◽  
Kento Matsuda ◽  
Danny Hynds ◽  
Kouta Minamizawa
Keyword(s):  
Upper Body ◽  
Haptic Display ◽  
Body Movements

Edge-Learning-Enabled Realistic Touch and Stable Communication for Remote Haptic Display

IEEE Network ◽  
2021 ◽  
Vol 35 (1) ◽  
pp. 141-147
Author(s):  
Xiaosa Li ◽  
Zhiyong Yuan ◽  
Jianhui Zhao ◽  
Bo Du ◽  
Xiangyun Liao ◽  
...  
Keyword(s):  
Haptic Display

scholarly journals Evaluation of Commercial Ropes Applied as Artificial Tendons in Robotic Rehabilitation Orthoses

2020 ◽  
Vol 10 (3) ◽  
pp. 920 ◽  
Author(s):  
Guilherme de Paula Rúbio ◽  
Fernanda Márcia Rodrigues Martins Ferreira ◽  
Fabrício Henrique de Lisboa Brandão ◽  
Victor Flausino Machado ◽  
Leandro Gonzaga Tonelli ◽  
...  
Keyword(s):  
Tensile Force ◽  
Permanent Deformation ◽  
Hand Movements ◽  
Clinical Test ◽  
Robotic Rehabilitation ◽  
Upper Limb Rehabilitation ◽  
Direct Measurements ◽  
Robotic Orthosis ◽  
Design Selection ◽  
Limb Rehabilitation

This study aims to present the design, selection and testing of commercial ropes (artificial tendons) used on robotic orthosis to perform the hand movements for stroke individuals over upper limb rehabilitation. It was determined the load applied in the rope would through direct measurements performed on four individuals after stroke using a bulb dynamometer. A tensile strength test was performed using eight commercial ropes in order to evaluate the maximum breaking force and select the most suitable to be used in this application. Finally, a pilot test was performed with a user of the device to ratify the effectiveness of the rope. The load on the cable was 12.38 kgf (121.4 N) in the stroke-affected hand, which is the maximum tensile force that the rope must to supports. Paragliding rope (DuPont™ Kevlar ® ) supporting a load of 250 N at a strain of 37 mm was selected. The clinical test proved the effectiveness of the rope, supporting the requested efforts, without presenting permanent deformation, effectively performing the participant’s finger opening.

A Subject-Adaptive Controller for Wrist Robotic Rehabilitation

2015 ◽  
Vol 20 (3) ◽  
pp. 1338-1350 ◽  
Author(s):  
Ali Utku Pehlivan ◽  
Fabrizio Sergi ◽  
Marcia K. OMalley
Keyword(s):  
Adaptive Controller ◽  
Robotic Rehabilitation
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