Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy

Ogura, Mariko; Furukawa, Jun-ichiro; Teramae, Tatsuya; Noda, Tomoyuki; Okuyama, Kohei; Kawakami, Michiyuki; Liu, Meigen; Morimoto, Jun

doi:10.1109/smc.2018.00195

Cited by 10 publications

(9 citation statements)

References 23 publications

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“…This study used a shoulder elevation-assisted exoskeleton robot developed by Noda et al [26] at the Advanced Telecommunications Research Institute International to perform the intervention (Fig. 1).…”

Section: Intervention Protocol Shoulder Elevation-assisted Exoskeleta...mentioning

confidence: 99%

Optimizing shoulder elevation assist rate in exoskeletal rehabilitation based on muscular activity indices: a clinical feasibility study

Ito,

Fukuda,

Hosoi

et al. 2024

BMC Neurol

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Background Restoring shoulder function is critical for upper-extremity rehabilitation following a stroke. The complex musculoskeletal anatomy of the shoulder presents a challenge for safely assisting elevation movements through robotic interventions. The level of shoulder elevation assistance in rehabilitation is often based on clinical judgment. There is no standardized method for deriving an optimal level of assistance, underscoring the importance of addressing abnormal movements during shoulder elevation, such as abnormal synergies and compensatory actions. This study aimed to investigate the effectiveness and safety of a newly developed shoulder elevation exoskeleton robot by applying a novel optimization technique derived from the muscle synergy index. Methods Twelve chronic stroke participants underwent an intervention consisting of 100 robot-assisted shoulder elevation exercises (10 × 10 times, approximately 40 min) for 10 days (4–5 times/week). The optimal robot assist rate was derived by detecting the change points using the co-contraction index, calculated from electromyogram (EMG) data obtained from the anterior deltoid and biceps brachii muscles during shoulder elevation at the initial evaluation. The primary outcomes were the Fugl–Meyer assessment-upper extremity (FMA-UE) shoulder/elbow/forearm score, kinematic outcomes (maximum angle of voluntary shoulder flexion and elbow flexion ratio during shoulder elevation), and shoulder pain outcomes (pain-free passive shoulder flexion range of motion [ROM] and visual analogue scale for pain severity during shoulder flexion). The effectiveness and safety of robotic therapy were examined using the Wilcoxon signed-rank sum test. Results All 12 patients completed the procedure without any adverse events. Two participants were excluded from the analysis because the EMG of the biceps brachii was not obtained. Ten participants (five men and five women; mean age: 57.0 [5.5] years; mean FMA-UE total score: 18.7 [10.5] points) showed significant improvement in the FMA-UE shoulder/elbow/forearm score, kinematic outcomes, and pain-free passive shoulder flexion ROM (P < 0.05). The shoulder pain outcomes remained unchanged or improved in all patients. Conclusions The study presents a method for deriving the optimal robotic assist rate. Rehabilitation using a shoulder robot based on this derived optimal assist rate showed the possibility of safely improving the upper-extremity function in patients with severe stroke in the chronic phase.

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Section: Intervention Protocol Shoulder Elevation-assisted Exoskeleta...mentioning

confidence: 99%

Optimizing shoulder elevation assist rate in exoskeletal rehabilitation based on muscular activity indices: a clinical feasibility study

Ito,

Fukuda,

Hosoi

et al. 2024

BMC Neurol

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“…Then the research team designed a modified Nested-cylinder PMs (NcPAMs), which is more powerful. [22,24,[27][28][29][30][31][32][33][34][35][36][37][38], respectively.…”

Section: A Antagonistic Pair-based Robotsmentioning

confidence: 99%

Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

Liu

Zuo

Zhu

et al. 2020

Future Generation Computer Systems

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“…The IMU sensor data are sent to the robot control loop by 60 Hz. We developed a shoulder exoskeleton robot for the rehabilitation of stroke patients based on clinical needs, which include safely assisting the patients with strong force to a lift-up human arm [5]. Our developed exoskeleton robot is actuated by a Pneumatic Artificial Muscle (PAM).…”

Section: A Robot Systemmentioning

confidence: 99%

“…In rehabilitation, the physical characteristics of stroke victims and spinal cord sufferers are different from healthy persons. Our previous studies focused on the rehabilitation of stroke patients with a shoulder exoskeleton robot [5], [6], [7]. We analyzed the relationship between elbow/wrist joint torque that depends on synkinesis and therapist/robot assistance during raising-arm motions in stroke patients [7].…”

Section: Introductionmentioning

confidence: 99%

Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns

Teramae

Matsubara

Noda

et al. 2020

IEEE Robot. Autom. Lett.

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In exercise and rehabilitation, to effectively train the human body, human motion trajectory is essential because it induces muscle activity patterns. In this letter, we develop a novel framework for the trajectory optimization of human postures, including the head, the limbs, and the body to induce patterns of target muscle activities. Our framework has the following features: 1) a data-driven muscle-skeleton model for managing user-specific features; 2) quaternion-based state representation amenable for IMU sensors in human posture measurement; 3) joint optimization of human postures to replicate therapists who adjust not only paralyzed limbs but also patient's other limbs and body postures. We experimentally investigated the effectiveness of our framework with a shoulder joint assistive exoskeleton robot for rehabilitation.

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Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy

Cited by 10 publications

References 23 publications

Optimizing shoulder elevation assist rate in exoskeletal rehabilitation based on muscular activity indices: a clinical feasibility study

Optimizing shoulder elevation assist rate in exoskeletal rehabilitation based on muscular activity indices: a clinical feasibility study

Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns

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