TY - JOUR T1 - Upper Extremity Exoskeletons for Robot Aided Rehabilitation JF - Mechanical Engineering Y1 - 2014 A1 - Sergi,Fabrizio A1 - Blank,Amy A1 - O'Malley,Marcia KW - 5400:Research & development KW - 9190:United States KW - Cost reduction KW - Engineering–Mechanical Engineering KW - Medical research KW - Neurological disorders KW - Robotics KW - United States–US AB -

Neurological injuries, including stroke and spinal cord injury, typically result in significant motor impairments. These impairments negatively impact an individual's movement coordination, in turn affecting their ability to function independently. Intensively repetitous motion training has proven to restore some motor function after neurological injuries. This training is often labor-intensive and costly. By enabling therapists to train their patients intensively through consistent, repeatable movements, robotic rehabilitation systems offer a cost-effective solution requiring less labor and effort. The design of upper limb robotic therapy devices has been a topic of research for over two decades. Early devices were end-effector based, and guided the motion of a patient's hand to desired positions. Hardware and software designs emphasized the safety of the robotic devices, using control methods specifically designed to ensure safe interaction forces between the user and the device.

VL - 136 SN - 00256501 UR - https://search.proquest.com/docview/1559578916?accountid=7064 ER - TY - Generic T1 - Understanding the Role of Haptic Feedback in a Teleoperated Grasp and Lift Task T2 - International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Fifth Joint World Haptics Conference (HAPTICS) Y1 - 2013 A1 - Jeremy D. Brown A1 - Andrew Paek A1 - Mashaal Syed A1 - Marcia K. O'Malley A1 - Patricia Shewokis A1 - Jose L. Contreras-Vidal A1 - R. B. Gillespie AB -

Achieving dexterous volitional control of an upper-limb prosthetic device will require multimodal sensory feedback that goes beyond vision. Haptic display is well-positioned to provide this additional sensory information. Haptic display, however, includes a diverse set of modalities that encode information differently. We have begun to make a comparison between two of these modalities, force feedback spanning the elbow, and amplitude-modulated vibrotactile feedback, based on performance in a functional grasp and lift task. In randomly ordered trials, we assessed the performance of N=11 participants (8 able-bodied, 3 amputee) attempting to grasp and lift an object using an EMG controlled gripper under three feedback conditions (no feedback, vibrotactile feedback, and force feed-back), and two object weights that were undetectable by vision. Preliminary results indicate differences between able-bodied and amputee participants in coordination of grasp and lift forces. In addition, both force feedback and vibrotactile feedback contribute to significantly better task performance (fewer slips) and better adaptation following an unpredicted weight change. This suggests that the development and utilization of internal models for predictive control is more intuitive in the presence of haptic feedback.

JF - International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems and the Fifth Joint World Haptics Conference (HAPTICS) ER -