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Krebs, Hermano Igo; Palazzolo, J.J.; Dipietro, Laura; Ferraro, Mark; Krol, Jennifer; Rannekleiv, K.; Volpe, Bruce T.; Hogan, Neville

doi:10.1023/a:1024494031121

Cited by 602 publications

(115 citation statements)

References 56 publications

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“…Over the last decade, robots have been used in health care for a wide range of applications, from surgical robots (Dogangil et al, 2010) to robots used for patient rehabilitation (Krebs et al, 2003). There have been many research projects on Robotic Ultrasound Systems, defined as the combination of ultrasound imaging with a robotic system in medical interventions (Priester et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

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Section: Introductionmentioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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“…Many robots can also assess motor performance in terms of velocity, precision, or smoothness of trajectory [9][10]. Other studies used electromyography signals as indicators of effort [11]. In these applications, the score often depends only on the task performance and does not take the applied robotic assistance into account.…”

Section: Introductionmentioning

confidence: 99%

Estimating the patient�s contribution during robot-assisted therapy

Guidali¹,

Keller²,

Klamroth-Marganska³

et al. 2013

JRRD

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Abstract-Robot-assisted therapy has become increasingly common in neurorehabilitation. Sophisticated controllers have been developed for robots to assist and cooperate with the patient. It is difficult for the patient to judge to what extent the robot contributes to the execution of a movement. Therefore, methods to comprehensively quantify the patient's contribution and provide feedback are of key importance. We developed a method comprehensively to estimate the patient's contribution by combining kinematic measures and the motor assistance applied. Inverse dynamic models of the robot and the passive human arm calculate the required torques to move the robot and the arm and build, together with the recorded motor torque, a metric (in percentage) that represents the patient's contribution to the movement. To evaluate the developed metric, 12 nondisabled subjects and 7 patients with neurological problems simulated instructed movement contributions. The results are compared with a common performance metric. The estimation shows very satisfying results for both groups, even though the arm model used was strongly simplified. Displaying this metric to patients during therapy can potentially motivate them to actively participate in the training.

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“…A good review of control strategies used can be found in [5]. The paradigm Assistance-As-Needed (AAN), sometimes referred to as performance-based rehabilitation has shown promising potential [6]- [8]. AAN aims to assist a patient with the minimum assistance required for them to perform physical tasks.…”

Section: Introductionmentioning

confidence: 99%

“…A solution is to derive a measure of this gap empirically by critiquing task execution against performance criteria. Providing assistance based on this measure, combined with a forgetting factor will converge to an assistance appropriate for the patient and task [6]- [8]. Although promising, limitations still exits.…”

Section: Introductionmentioning

confidence: 99%

A task description model for robotic rehabilitation

Carmichael

Liu

2012

2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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The desire to produce robots to aid in physical neurorehabilitation has led to the control paradigm Assistance-As-Needed. This paradigm aims to assist patients in performing physical rehabilitation tasks whilst providing the least amount of assistance required, maximizing the patient's effort which is essential for recovery. Ideally the provided assistance equals the gap between the capability required to perform the task and the patient's available capability. Current implementations derive a measure of this gap by critiquing task performance based on some criteria. This paper presents a task description model for tasks performed by a patient's limb, allowing physical requirements to be calculated. Applied to two upper limb tasks typical of rehabilitation and daily activities, the effect of task variations on the task's physical requirements are observed. It is proposed that using the task description model to compensate for changing task requirements will allow better support by providing assistance closer to the true needs of the patient.

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Cited by 602 publications

References 56 publications

An Ultrasound Robotic System Using the Commercial Robot UR5

An Ultrasound Robotic System Using the Commercial Robot UR5

Estimating the patient�s contribution during robot-assisted therapy

A task description model for robotic rehabilitation

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