Trajectory Adaptation and Learning for Ankle Rehabilitation Using a 3-PRS Parallel Robot

Abu-Dakk, Fares J.; Valera, Ángel; Escalera, Juan A.; Vallés, Marina; Mata, Vicente; Abderrahim, Mohamed

doi:10.1007/978-3-319-22876-1_41

Cited by 15 publications

(10 citation statements)

References 25 publications

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“…After excluding studies involving training conducted not in a seated position [ 1 , 24 – 29 ], proposition and verification of novel technologies and algorithms [ 22 , 30 – 37 ], single passive training [ 5 , 38 , 39 ], proposition and verification of novel robots [ 8 , 16 – 19 , 40 – 45 ], single subject [ 46 ], conference papers merged into peer-reviewed journals [ 47 – 49 ], and analyzing the biomechanics of ankle joints [ 11 , 12 , 50 , 51 ], a total of 21 studies were finally selected with 311 patients involved; of them, 13 studies applied a single group while another eight studies used different groups for comparison to verify the therapeutic effect. Virtual-reality (VR) game training was applied in 19 studies, while two studies used proprioceptive neuromuscular facilitation (PNF) training, as shown in Table 1 .…”

Section: Resultsmentioning

confidence: 99%

Reviewing Clinical Effectiveness of Active Training Strategies of Platform-Based Ankle Rehabilitation Robots

Zeng

Zhu

Zhang

et al. 2018

Journal of Healthcare Engineering

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Objective This review aims to provide a systematical investigation of clinical effectiveness of active training strategies applied in platform-based ankle robots. Method English-language studies published from Jan 1980 to Aug 2017 were searched from four databases using key words of “Ankle∗” AND “Robot∗” AND “Effect∗ OR Improv∗ OR Increas∗.” Following an initial screening, three rounds of discrimination were successively conducted based on the title, the abstract, and the full paper. Result A total of 21 studies were selected with 311 patients involved; of them, 13 studies applied a single group while another eight studies used different groups for comparison to verify the therapeutic effect. Virtual-reality (VR) game training was applied in 19 studies, while two studies used proprioceptive neuromuscular facilitation (PNF) training. Conclusion Active training techniques delivered by platform ankle rehabilitation robots have been demonstrated with great potential for clinical applications. Training strategies are mostly combined with one another by considering rehabilitation schemes and motion ability of ankle joints. VR game environment has been commonly used with active ankle training. Bioelectrical signals integrated with VR game training can implement intelligent identification of movement intention and assessment. These further provide the foundation for advanced interactive training strategies that can lead to enhanced training safety and confidence for patients and better treatment efficacy.

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Section: Resultsmentioning

confidence: 99%

Reviewing Clinical Effectiveness of Active Training Strategies of Platform-Based Ankle Rehabilitation Robots

Zeng

Zhu

Zhang

et al. 2018

Journal of Healthcare Engineering

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“…For instance, the scope of the study is only the upper limb, but spasticity is presented also in lower limbs. The most affected joint is the ankle [ 39 , 40 ] as it is the elbow on the arm. The scales used for assessment are the same in both limbs, but the effectiveness is different.…”

Section: Literature Review Summarymentioning

confidence: 99%

Robot-Aided Systems for Improving the Assessment of Upper Limb Spasticity: A Systematic Review

de-la-Torre

Oña

Balaguer

et al. 2020

Sensors

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Spasticity is a motor disorder that causes stiffness or tightness of the muscles and can interfere with normal movement, speech, and gait. Traditionally, the spasticity assessment is carried out by clinicians using standardized procedures for objective evaluation. However, these procedures are manually performed and, thereby, they could be influenced by the clinician’s subjectivity or expertise. The automation of such traditional methods for spasticity evaluation is an interesting and emerging field in neurorehabilitation. One of the most promising approaches is the use of robot-aided systems. In this paper, a systematic review of systems focused on the assessment of upper limb (UL) spasticity using robotic technology is presented. A systematic search and review of related articles in the literature were conducted. The chosen works were analyzed according to the morphology of devices, the data acquisition systems, the outcome generation method, and the focus of intervention (assessment and/or training). Finally, a series of guidelines and challenges that must be considered when designing and implementing fully-automated robot-aided systems for the assessment of UL spasticity are summarized.

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“…2. Existen muchos diseños de robots paralelos desarrollados para la rehabilitación del miembro inferior del ser humano, por ejemplo, existe el modelo de tipología 3-PRE de 3 grados de libertad [5], también se encuentra un modelo 6-UPU de 6 grados de libertad, que presenta la forma de un antiprisma triangular [6].…”

Section: A Robot 3upe-rpuunclassified

“…En los últimos años los robots paralelos empezaron a ser empleados en el campo de la medicina, donde se han desarrollado varios proyectos en el área de la rehabilitación del miembro inferior [5], [6] los cuales emplean robots paralelos de 3 y 6 grados de libertad respectivamente, que recrean rutinas de movimientos para este proceso de rehabilitación. El desarrollo de estos modelos ha llegado hasta la construcción de prototipos y la realización de pruebas, las cuales según sus autores mostraron resultados positivos.…”

Section: Introductionunclassified

Análisis Cinemático de un Robot Paralelo de Tipología 3UPE RPU

Morales¹,

Baño²,

Zambrano³

et al. 2018

Proceedings of the 16th LACCEI International Multi-Conference for Engineering, Education, and Technology: “Innovation in Educat

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This ARTICLE aims to design and build a robot that is able to assist with the rehabilitation treatments of the lower limb. The robot has a mobility of 4 degrees of freedom, two movements of translation and two of rotation, these degrees of freedom are considered based on the flexo-extension movements and internal and external rotation of the lower limb. In the kinematic analysis, the developed equations are characterized by studying the kinematic chain of each element of the robot (arms and platform) separately, through the Denavit & Hartenberg methods and the Euler rotation angles respectively, describing the positions which adopt the joints of each arm separately, and then establish the relationships between each of them. The expressions describing the velocity and acceleration of each element of the robot are derived from the position equations founded. For the validation of results a program is presented which is able to simulate the movements of the robot and show the relation between the positions of the articulations of the arms of the robot and the position of the platform in the space; the results founded through this program show that there is a negligible difference between the positions of the vertices of the platform and the ends of the arms of the robot, when making any movement.

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Trajectory Adaptation and Learning for Ankle Rehabilitation Using a 3-PRS Parallel Robot

Cited by 15 publications

References 25 publications

Reviewing Clinical Effectiveness of Active Training Strategies of Platform-Based Ankle Rehabilitation Robots

Reviewing Clinical Effectiveness of Active Training Strategies of Platform-Based Ankle Rehabilitation Robots

Robot-Aided Systems for Improving the Assessment of Upper Limb Spasticity: A Systematic Review

Análisis Cinemático de un Robot Paralelo de Tipología 3UPE RPU

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