Wheelchair-Mounted Robot Manipulators

Bach, John R.; Zeelenberg, Arie P.; Winter, Charles

doi:10.1097/00002060-199004000-00002

Cited by 34 publications

(3 citation statements)

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“…Advanced assistive robotic arms have been developed to support the daily living of disabled individuals, [1–6] but in case of tetraplegia, the control of these assistive arms is challenged as they are usually controlled by a joystick. At the same time, the ability to control assistive robotic arms may radically change the self-supportiveness of these severely paralyzed individuals and fundamentally increase their quality of life [1–3].…”

Section: Introductionmentioning

confidence: 99%

“…At the same time, the ability to control assistive robotic arms may radically change the self-supportiveness of these severely paralyzed individuals and fundamentally increase their quality of life [1–3]. Some research has focused on semi-automated control of robotic arms using brain-machine interfaces with promising results in laboratory settings [7, 8].…”

Section: Introductionmentioning

confidence: 99%

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Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia

Struijk

Egsgaard

Lontis

et al. 2017

J NeuroEngineering Rehabil

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BackgroundFor an individual with tetraplegia assistive robotic arms provide a potentially invaluable opportunity for rehabilitation. However, there is a lack of available control methods to allow these individuals to fully control the assistive arms.MethodsHere we show that it is possible for an individual with tetraplegia to use the tongue to fully control all 14 movements of an assistive robotic arm in a three dimensional space using a wireless intraoral control system, thus allowing for numerous activities of daily living. We developed a tongue-based robotic control method incorporating a multi-sensor inductive tongue interface. One abled-bodied individual and one individual with tetraplegia performed a proof of concept study by controlling the robot with their tongue using direct actuator control and endpoint control, respectively.ResultsAfter 30 min of training, the able-bodied experimental participant tongue controlled the assistive robot to pick up a roll of tape in 80% of the attempts. Further, the individual with tetraplegia succeeded in fully tongue controlling the assistive robot to reach for and touch a roll of tape in 100% of the attempts and to pick up the roll in 50% of the attempts. Furthermore, she controlled the robot to grasp a bottle of water and pour its contents into a cup; her first functional action in 19 years.ConclusionTo our knowledge, this is the first time that an individual with tetraplegia has been able to fully control an assistive robotic arm using a wireless intraoral tongue interface. The tongue interface used to control the robot is currently available for control of computers and of powered wheelchairs, and the robot employed in this study is also commercially available. Therefore, the presented results may translate into available solutions within reasonable time.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia

Struijk

Egsgaard

Lontis

et al. 2017

J NeuroEngineering Rehabil

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“…Effectively augmenting upper extremity function for individuals with DMD has the potential to increase independence, allow these individuals to maintain optimal quality of life, and reduce the financial burden associated with personal care . In this study, we evaluated admittance control as an alternative to passive arm supports as a means to provide increased independence for individuals with DMD by comparing an admittance control robot with a commercially available passive arm support for individuals with DMD.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of admittance control as an alternative to passive arm supports to increase upper extremity function for individuals with Duchenne muscular dystrophy

Corrigan

Foulds

2020

Muscle and Nerve

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The degree of upper extremity active range of motion provided by an admittance control robot compared with a commercially available passive arm support for individuals with DMD who have limited arm function was investigated in this study. The reachable workspace evaluation was used to assess active range of motion provided by both devices. A visual analog scale was also used to secure participantreported outcome measures. The admittance control robot significantly increased reachable surface area scores compared with the passive arm support for the dominant arm (Wilcoxon T = 5, P = .022, r 2 = 0.263) and for the nondominant arm (paired-samples t test, t(9) = 4.66, P = .001, r 2 = 0.71). The admittance control robot also significantly decreased participant-reported exertion compared with the passive arm support. Results of this study substantiated the benefits of admittance control for individuals with DMD compared with a commercially available passive arm support. K E Y W O R D S active range of motion, admittance control, Duchenne muscular dystrophy, participantreported outcome measures, upper extremity

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Ataxien: Assessment und Management

Ackermann¹

2010

NeuroRehabilitation

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Wheelchair-Mounted Robot Manipulators

Cited by 34 publications

References 0 publications

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia

Evaluation of admittance control as an alternative to passive arm supports to increase upper extremity function for individuals with Duchenne muscular dystrophy

Ataxien: Assessment und Management

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