MOTORE: A mobile haptic interface for neuro-rehabilitation

Avizzano, Carlo Alberto; Satler, Massimo; Cappiello, G.; Scoglio, Andrea; Ruffaldi, Emanuele; Bergamasco, Massimo

doi:10.1109/roman.2011.6005238

Cited by 16 publications

(7 citation statements)

References 18 publications

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“…We have experimentally characterized the non-backdriveability of the device-the force required to initiate sliding of the device-along forward and sideways directions on a high friction surface as 44 ± 3 N and 56 ± 7 N, respectively. The torque required to induce rotational slip on the same surface is characterized as 8 ± 0.5 N m. These values are inline with the values reported for similar devices in the literature, 15,16,24,32,34 and ensure that ASSISTON-MOBILE can provide the adequate level of forces/torques at its end-effector. Table I presents the design parameters and the characterization results for the holonomic base of ASSISTON-MOBILE, with respect to Fig.…”

Section: Holonomic Mobile Platformsupporting

confidence: 79%

“…These force/torque levels are adequate for administering commonly employed therapies and compatible with the capabilities of the other end-effector-type rehabilitation devices. 15,16,24,32 Since rehabilitation exercises need to be delivered slowly to prevent spasms of the patients, the maximum acceleration of the device should be bounded by 1 m/s 2 , while a translational speed of at least 0.5 m/s and at most 1 m/s is desired.…”

Section: Design Requirements Device Specifications and Implementatimentioning

confidence: 99%

“…MOTORE 24 is an active mobile robot designed for upper-limb rehabilitation. The movement of the robot is provided by three actuated omni-directional wheels.…”

Section: Introductionmentioning

confidence: 99%

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AssistOn-Mobile: a series elastic holonomic mobile platform for upper extremity rehabilitation

et al. 2014

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SUMMARYWe present the design, control, and human–machine interface of a series elastic holonomic mobile platform,AssistOn-Mobile, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device targeted for home use. In particular,AssistOn-Mobileconsists of a holonomic mobile platform with four actuated Mecanum wheels and a compliant, low-cost, multi-degrees-of-freedom series elastic element acting as its force sensing unit. Thanks to its series elastic actuation,AssistOn-Mobileis highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane.AssistOn-Mobilealso features Passive Velocity Field Control (PVFC) to deliver human-in-the-loop contour tracking rehabilitation exercises. PVFC allows patients to complete the contour-tracking tasks at their preferred pace, while providing the proper amount of assistance as determined by the therapists. PVFC not only minimizes the contour error but also does so by rendering the closed-loop system passive with respect to externally applied forces; hence, ensures the coupled stability of the human-robot system. We evaluate the feasibility and effectiveness ofAssistOn-Mobilewith PVFC for rehabilitation and present experimental data collected during human subject experiments under three case studies. In particular, we utilizeAssistOn-Mobilewith PVFC (a) to administer contour following tasks where the pace of the tasks is left to the control of the patients, so that the patients can assume a natural and comfortable speed for the tasks, (b) to limit compensatory movements of the patients by integrating a RGB-D sensor to the system to continually monitor the movements of the patients and to modulate the task speeds to provide online feedback to the patients, and (c) to integrate a Brain–Computer Interface such that the brain activity of the patients is mapped to the robot speed along the contour following tasks, rendering an assist-as-needed protocol for the patients with severe disabilities. The feasibility studies indicate thatAssistOn-Mobileholds promise in improving the accuracy and effectiveness of repetitive movement therapies, while also providing quantitative measures of patient progress.

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Section: Holonomic Mobile Platformsupporting

confidence: 79%

Section: Design Requirements Device Specifications and Implementatimentioning

confidence: 99%

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AssistOn-Mobile: a series elastic holonomic mobile platform for upper extremity rehabilitation

et al. 2014

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“…In this regard, soft robots (please see Chu and Patterson. (2018) ; Cianchetti et al (2018) and references therein) and mobile robots (see examples: Avizzano et al (2011) ; Yurkewich et al (2015) ; Germanotta et al (2018) ) are two suggestions in the literature, which be explained below. It should be noted that both soft rehabilitation robotic systems and mobile robotic systems can be made in very compact sizes at a low cost.…”

Section: Rehabilitation Roboticsmentioning

confidence: 99%

Review: How Can Intelligent Robots and Smart Mechatronic Modules Facilitate Remote Assessment, Assistance, and Rehabilitation for Isolated Adults With Neuro-Musculoskeletal Conditions?

2021

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Worldwide, at the time this article was written, there are over 127 million cases of patients with a confirmed link to COVID-19 and about 2.78 million deaths reported. With limited access to vaccine or strong antiviral treatment for the novel coronavirus, actions in terms of prevention and containment of the virus transmission rely mostly on social distancing among susceptible and high-risk populations. Aside from the direct challenges posed by the novel coronavirus pandemic, there are serious and growing secondary consequences caused by the physical distancing and isolation guidelines, among vulnerable populations. Moreover, the healthcare system’s resources and capacity have been focused on addressing the COVID-19 pandemic, causing less urgent care, such as physical neurorehabilitation and assessment, to be paused, canceled, or delayed. Overall, this has left elderly adults, in particular those with neuromusculoskeletal (NMSK) conditions, without the required service support. However, in many cases, such as stroke, the available time window of recovery through rehabilitation is limited since neural plasticity decays quickly with time. Given that future waves of the outbreak are expected in the coming months worldwide, it is important to discuss the possibility of using available technologies to address this issue, as societies have a duty to protect the most vulnerable populations. In this perspective review article, we argue that intelligent robotics and wearable technologies can help with remote delivery of assessment, assistance, and rehabilitation services while physical distancing and isolation measures are in place to curtail the spread of the virus. By supporting patients and medical professionals during this pandemic, robots, and smart digital mechatronic systems can reduce the non-COVID-19 burden on healthcare systems. Digital health and cloud telehealth solutions that can complement remote delivery of assessment and physical rehabilitation services will be the subject of discussion in this article due to their potential in enabling more effective and safer NMSDK rehabilitation, assistance, and assessment service delivery. This article will hopefully lead to an interdisciplinary dialogue between the medical and engineering sectors, stake holders, and policy makers for a better delivery of care for those with NMSK conditions during a global health crisis including future pandemics.

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“…MOTORE [13] is an active mobile robot designed for upperlimb rehabilitation. The movement is provided by three actuated omni-directional wheels.…”

mentioning

confidence: 99%

ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

Saraç

Ergin

Patoğlu

2013

2013 World Haptics Conference (WHC)

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We present the design and control of series elastic holonomic mobile platform, ASSISTON-MOBILE, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. ASSISTON-MOBILE consists of four actuated Mecanum wheels and a compliant, low-cost, multi degree-offreedom Series Elastic Element as its force sensing unit. Thanks to its series elastic actuation, ASSISTON-MOBILE is highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane. Feasibility tests and preliminary usability studies with the robot are presented. The device holds promise in improving accuracy and effectiveness of repetitive movement therapies completed at home, while also providing quantitative measures of patient progress.

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MOTORE: A mobile haptic interface for neuro-rehabilitation

Cited by 16 publications

References 18 publications

AssistOn-Mobile: a series elastic holonomic mobile platform for upper extremity rehabilitation

AssistOn-Mobile: a series elastic holonomic mobile platform for upper extremity rehabilitation

Review: How Can Intelligent Robots and Smart Mechatronic Modules Facilitate Remote Assessment, Assistance, and Rehabilitation for Isolated Adults With Neuro-Musculoskeletal Conditions?

ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

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