Functional Tasks Performed by People with Severe Muscular Atrophy Using an sEMG Controlled Robotic Manipulator

Hagengruber, Annette; Vogel, Jörn

doi:10.1109/embc.2018.8512703

Cited by 15 publications

(21 citation statements)

References 17 publications

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“…Advances in biomedical devices have shown that some SMA-affected individuals may benefit from use of orthoses (externally applied devices designed to improve muscular function), such as robotic exoskeletons. These devices improve quality of life for people with muscular diseases [320][321][322][323][324], including SMA. One study demonstrated positive effects on range of motion and performance of daily living activities of SMA-affected individuals [322].…”

Section: Biomedical Devicesmentioning

confidence: 99%

In Search of a Cure: The Development of Therapeutics to Alter the Progression of Spinal Muscular Atrophy

2021

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Until the recent development of disease-modifying therapeutics, spinal muscular atrophy (SMA) was considered a devastating neuromuscular disease with a poor prognosis for most affected individuals. Symptoms generally present during early childhood and manifest as muscle weakness and progressive paralysis, severely compromising the affected individual’s quality of life, independence, and lifespan. SMA is most commonly caused by the inheritance of homozygously deleted SMN1 alleles with retention of one or more copies of a paralog gene, SMN2, which inversely correlates with disease severity. The recent advent and use of genetically targeted therapies have transformed SMA into a prototype for monogenic disease treatment in the era of genetic medicine. Many SMA-affected individuals receiving these therapies achieve traditionally unobtainable motor milestones and survival rates as medicines drastically alter the natural progression of this disease. This review discusses historical SMA progression and underlying disease mechanisms, highlights advances made in therapeutic research, clinical trials, and FDA-approved medicines, and discusses possible second-generation and complementary medicines as well as optimal temporal intervention windows in order to optimize motor function and improve quality of life for all SMA-affected individuals.

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Section: Biomedical Devicesmentioning

confidence: 99%

In Search of a Cure: The Development of Therapeutics to Alter the Progression of Spinal Muscular Atrophy

2021

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“…Interfaces, which use the remaining capabilities of tetraplegics to generate signals suitable for proportional real-time control, may be based on neural activity [8,9], electromyography (EMG) [10,11], gaze [12], tongue movement [13], or head motion [14,15]. While all these solutions are generally feasible to enable robotic arm control, they might not be accessible to a subset of tetraplegic MS patients, due to the presence of interfering symptoms.…”

Section: Direct Control Interfaces For Tetraplegic Ms Patientsmentioning

confidence: 99%

AMiCUS 2.0—System Presentation and Demonstration of Adaptability to Personal Needs by the Example of an Individual with Progressed Multiple Sclerosis

Rudigkeit¹,

Gebhard²

2020

Sensors

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AMiCUS is a human–robot interface that enables tetraplegics to control an assistive robotic arm in real-time using only head motion, allowing them to perform simple manipulation tasks independently. The interface may be used as a standalone system or to provide direct control as part of a semi-autonomous system. Within this work, we present our new gesture-free prototype AMiCUS 2.0, which has been designed with special attention to accessibility and ergonomics. As such, AMiCUS 2.0 addresses the needs of tetraplegics with additional impairments that may come along with multiple sclerosis. In an experimental setup, both AMiCUS 1.0 and 2.0 are compared with each other, showing higher accessibility and usability for AMiCUS 2.0. Moreover, in an activity of daily living, a proof-of-concept is provided that an individual with progressed multiple sclerosis is able to operate the robotic arm in a temporal and functional scope, as would be necessary to perform direct control tasks for use in a commercial semi-autonomous system. The results indicate that AMiCUS 2.0 makes an important step towards closing the gaps of assistive technology, being accessible to those who rely on such technology the most.

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“…Currently, the system can be interfaced either by a conventional joystick or alternatively by an interface based on electromyography (EMG). This EMG-based interface allows people to operate robotic systems continuously in 3D, when the use of a joystick is not an option due to the users impairment [19]. Furthermore, the system is equipped with an Asus Xtion Pro Live RGB-D camera to perceive the environment as well as an integrated head switch for additional user input.…”

Section: A System Descriptionmentioning

confidence: 99%

“…where the corresponding null space projector is denoted by N ∈ R 8×8 while J elbow ∈ R 6×8 and f elbow ∈ R 6 are the elbow Jacobian matrix and wrench, respectively. Similar to (19) the elbow wrench is calculated with a Cartesian stiffness and damping applied to the elbow frame. The forces that are applied to the mobile base are calculated by introducing end-effector-boundaries in which the platform motion should occur.…”

Section: A Whole-body Control Mode (Wbc)mentioning

confidence: 99%

“…10. In this mode the whole-body motion is active including the impedance controller (19), and the platform commands are computed according to the mapping of the interaction forces (24). The noisy raw signal of the estimated external forces can be used thanks to the admit-tance interface (9), generating smooth commanded velocities due to the filtering effect.…”

Section: Following Modementioning

confidence: 99%

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Employing Whole-Body Control in Assistive Robotics

Iskandar

Quere

Hagengruber

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Light-weight robotic manipulators in combination with power wheelchairs can help to restore the mobility of people with disabilities. While such systems are available on the market, they typically are limited to fully manual control modes. In research, shared control methods are employed, to increase the usability of these systems. Here, we present an additional extension, by introducing a whole-body control concept to the assistive robotic system EDAN. Combined with shared control, the whole-body controller allows the realization of complex tasks which necessitate the coordination of arm and platform, while ensuring compliant behavior resulting from the impedance control law. The implemented approach is analyzed and validated in an exemplary task of opening a door, passing through it and closing it afterwards. While this task would exceed the reachability of the arm in a classical approach, the combination of whole-body control with a shared control scheme allows for quick and efficient execution.

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Functional Tasks Performed by People with Severe Muscular Atrophy Using an sEMG Controlled Robotic Manipulator

Cited by 15 publications

References 17 publications

In Search of a Cure: The Development of Therapeutics to Alter the Progression of Spinal Muscular Atrophy

In Search of a Cure: The Development of Therapeutics to Alter the Progression of Spinal Muscular Atrophy

AMiCUS 2.0—System Presentation and Demonstration of Adaptability to Personal Needs by the Example of an Individual with Progressed Multiple Sclerosis

Employing Whole-Body Control in Assistive Robotics

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