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Zhao Y, Wu H, Zhang M, Mao J, Todoh M. Design methodology of portable upper limb exoskeletons for people with strokes. Front Neurosci 2023; 17:1128332. [PMID: 37008203 PMCID: PMC10060802 DOI: 10.3389/fnins.2023.1128332] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2022] [Accepted: 02/27/2023] [Indexed: 03/18/2023] Open
Affiliation(s)
- Yongkun Zhao
- Division of Human Mechanical Systems and Design, Graduate School of Engineering, Hokkaido University, Sapporo, Japan
- Department of Bioengineering, Faculty of Engineering, Imperial College London, London, United Kingdom
| | - Haijun Wu
- Division of Mechanical and Aerospace Engineering, Faculty of Engineering, Hokkaido University, Sapporo, Japan
| | - Mingquan Zhang
- State Key Laboratory of Bioelectronics, Jiangsu Provincial Key Laboratory of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China
| | - Juzheng Mao
- State Key Laboratory of Bioelectronics, Jiangsu Provincial Key Laboratory of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China
- *Correspondence: Juzheng Mao
| | - Masahiro Todoh
- Division of Mechanical and Aerospace Engineering, Faculty of Engineering, Hokkaido University, Sapporo, Japan
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2
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Shi Y, Dong W, Lin W, Gao Y. Soft Wearable Robots: Development Status and Technical Challenges. SENSORS (BASEL, SWITZERLAND) 2022; 22:7584. [PMID: 36236683 PMCID: PMC9573304 DOI: 10.3390/s22197584] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/30/2022] [Revised: 09/25/2022] [Accepted: 10/03/2022] [Indexed: 06/16/2023]
Abstract
In recent years, more and more research has begun to focus on the flexible and lightweight design of wearable robots. During this process, many novel concepts and achievements have been continuously made and shown to the public, while new problems have emerged at the same time, which need to be solved. In this paper, we give an overview of the development status of soft wearable robots for human movement assistance. On the basis of a clear definition, we perform a system classification according to the target assisted joint and attempt to describe the overall prototype design level in related fields. Additionally, it is necessary to sort out the latest research progress of key technologies such as structure, actuation, control and evaluation, thereby analyzing the design ideas and basic characteristics of them. Finally, we discuss the possible application fields, and propose the main challenges of this valuable research direction.
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Application of Ultrasound-Guided Upper Trunk Brachial Plexus Block in Observation of Lower Shoulder Surgery. CONTRAST MEDIA & MOLECULAR IMAGING 2022; 2022:9168566. [PMID: 35833076 PMCID: PMC9252698 DOI: 10.1155/2022/9168566] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/06/2022] [Revised: 05/28/2022] [Accepted: 06/06/2022] [Indexed: 11/18/2022]
Abstract
This study aims to ensure the wide application of ultrasound-guided superior brachial plexus block in shoulder surgery, solve the application problem of ultrasound-guided superior brachial plexus block in shoulder surgery, make up for severe postoperative pain after shoulder arthroscopy, and improve the patient's recovery ability. In this paper, 90 patients with shoulder arthroscopy were divided into 3 groups: A, B, and C. In recent years, with the rapid development of medicine, ultrasound-guided brachial plexus upper trunk block has been widely used in shoulder surgery. Shoulder arthroscopy is more and more used in the diagnosis and treatment of shoulder diseases because of its advantages of minimally invasive, safe, and rapid recovery. Compared with the traditional operation, it is found that the shoulder arthroscopic operation reduces the incision trauma through the microscope, but the shoulder operation involves more muscles and ligaments, so the perioperative pain of shoulder arthroscopic operation is still serious.
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Vélez-Guerrero MA, Callejas-Cuervo M, Mazzoleni S. Design, Development, and Testing of an Intelligent Wearable Robotic Exoskeleton Prototype for Upper Limb Rehabilitation. SENSORS (BASEL, SWITZERLAND) 2021; 21:5411. [PMID: 34450853 PMCID: PMC8401039 DOI: 10.3390/s21165411] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/06/2021] [Revised: 08/03/2021] [Accepted: 08/05/2021] [Indexed: 01/02/2023]
Abstract
Neuromotor rehabilitation and recovery of upper limb functions are essential to improve the life quality of patients who have suffered injuries or have pathological sequels, where it is desirable to enhance the development of activities of daily living (ADLs). Modern approaches such as robotic-assisted rehabilitation provide decisive factors for effective motor recovery, such as objective assessment of the progress of the patient and the potential for the implementation of personalized training plans. This paper focuses on the design, development, and preliminary testing of a wearable robotic exoskeleton prototype with autonomous Artificial Intelligence-based control, processing, and safety algorithms that are fully embedded in the device. The proposed exoskeleton is a 1-DoF system that allows flexion-extension at the elbow joint, where the chosen materials render it compact. Different operation modes are supported by a hierarchical control strategy, allowing operation in autonomous mode, remote control mode, or in a leader-follower mode. Laboratory tests validate the proper operation of the integrated technologies, highlighting a low latency and reasonable accuracy. The experimental result shows that the device can be suitable for use in providing support for diagnostic and rehabilitation processes of neuromotor functions, although optimizations and rigorous clinical validation are required beforehand.
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Affiliation(s)
| | - Mauro Callejas-Cuervo
- Software Research Group, Universidad Pedagógica y Tecnológica de Colombia, Tunja 150002, Colombia;
- School of Computer Science, Universidad Pedagógica y Tecnológica de Colombia, Tunja 150002, Colombia
| | - Stefano Mazzoleni
- Department of Electrical and Information Engineering, Polytechnic University of Bari, 70126 Bari, Italy;
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Yough MG, Hardesty RL, Yakovenko S, Gritsenko V. A segmented forearm model of hand pronation-supination approximates joint moments for real time applications. INTERNATIONAL IEEE/EMBS CONFERENCE ON NEURAL ENGINEERING : [PROCEEDINGS]. INTERNATIONAL IEEE EMBS CONFERENCE ON NEURAL ENGINEERING 2021; 2021:751-754. [PMID: 34211636 PMCID: PMC8243400 DOI: 10.1109/ner49283.2021.9441405] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Musculoskeletal modeling is a new computational tool to reverse engineer human control systems, which require efficient algorithms running in real-time. Human hand pronation-supination movement is accomplished by movement of the radius and ulna bones relative to each other via the complex proximal and distal radioulnar joints, each with multiple degrees of freedom (DOFs). Here, we report two simplified models of this complex kinematic transformation implemented as a part of a 20 DOF model of the hand and forearm. The pronation/supination DOF was implemented as a single rotation joint either within the forearm segment or separating proximal and distal parts of the forearm segment. Torques produced by the inverse dynamic simulations with anatomical architecture of the forearm (OpenSim model) were used as the "gold standard" in the comparison of two simple models. Joint placement was iteratively optimized to achieve the closest representation of torques during realistic hand movements. The model with a split forearm segment performed better than the model with a solid forearm segment in simulating pronation/supination torques. We conclude that simplifying pronation/supination DOF as a single-axis rotation between arm segments is a viable strategy to reduce the complexity of multi-DOF dynamic simulations.
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Affiliation(s)
- Matthew G Yough
- West Virginia University, Morgantown, WV 26506 USA (phone: 304-293-7976; fax: 304-293-7105
| | - Russell L Hardesty
- West Virginia University. He is now with the National Center for Adaptive Neurotechnologies, Stratton VA Medical Center, Albany, NY 12208 USA
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Majidi Fard Vatan H, Nefti-Meziani S, Davis S, Saffari Z, El-Hussieny H. A review: A Comprehensive Review of Soft and Rigid Wearable Rehabilitation and Assistive Devices with a Focus on the Shoulder Joint. J INTELL ROBOT SYST 2021. [DOI: 10.1007/s10846-021-01353-x] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Abstract
AbstractThe importance of the human upper limb role in performing daily life and personal activities is significant. Improper functioning of this organ due to neurological disorders or surgeries can greatly affect the daily activities performed by patients. This paper aims to comprehensively review soft and rigid wearable robotic devices provided for rehabilitation and assistance focusing on the shoulder joint. In the last two decades, many devices have been proposed in this regard, however, there have been a few groups whose devices have had effective therapeutic capability with acceptable clinical evidence. Also, there were not many portable, lightweight and user-friendly devices. Therefore, this comprehensive study could pave the way for achieving optimal future devices, given the growing need for these devices. According to the results, the most commonly used plan was Exoskeleton, the most commonly used actuators were electrical, and most devices were considered to be stationary and rigid. By doing these studies, the advantages and disadvantages of each method are also presented. The presented devices each have a new idea and attitude in a specific field to solve the problems of movement disorders and rehabilitation, which were in the form of prototypes, initial clinical studies and sometimes comprehensive clinical and commercial studies. These plans need more comprehensive clinical trials to become a complete and efficient plan. This article could be used by researchers to identify and evaluate the important features and strengths and weaknesses of the plans to lead to the presentation of more optimal plans in the future.
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Vélez-Guerrero MA, Callejas-Cuervo M, Mazzoleni S. Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review. SENSORS 2021; 21:s21062146. [PMID: 33803911 PMCID: PMC8003246 DOI: 10.3390/s21062146] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/31/2020] [Revised: 03/04/2021] [Accepted: 03/06/2021] [Indexed: 12/14/2022]
Abstract
Processing and control systems based on artificial intelligence (AI) have progressively improved mobile robotic exoskeletons used in upper-limb motor rehabilitation. This systematic review presents the advances and trends of those technologies. A literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI. The period under investigation spanned from 2016 to 2020, resulting in 30 articles that met the criteria. The literature showed the use of artificial neural networks (40%), adaptive algorithms (20%), and other mixed AI techniques (40%). Additionally, it was found that in only 16% of the articles, developments focused on neuromotor rehabilitation. The main trend in the research is the development of wearable robotic exoskeletons (53%) and the fusion of data collected from multiple sensors that enrich the training of intelligent algorithms. There is a latent need to develop more reliable systems through clinical validation and improvement of technical characteristics, such as weight/dimensions of devices, in order to have positive impacts on the rehabilitation process and improve the interactions among patients, teams of health professionals, and technology.
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Affiliation(s)
- Manuel Andrés Vélez-Guerrero
- Software Research Group, Universidad Pedagógica y Tecnológica de Colombia, Tunja 150002, Colombia
- Correspondence: ; Tel.: +57-320-820-6832
| | - Mauro Callejas-Cuervo
- School of Computer Science, Universidad Pedagógica y Tecnológica de Colombia, Tunja 150002, Colombia;
| | - Stefano Mazzoleni
- Department of Electrical and Information Engineering, Polytechnic University of Bari, 70126 Bari, Italy;
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Contreras-González AF, Ferre M, Sánchez-Urán MÁ, Sáez-Sáez FJ, Blaya Haro F. Efficient Upper Limb Position Estimation Based on Angular Displacement Sensors for Wearable Devices. SENSORS 2020; 20:s20226452. [PMID: 33198097 PMCID: PMC7696256 DOI: 10.3390/s20226452] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/09/2020] [Revised: 11/07/2020] [Accepted: 11/09/2020] [Indexed: 11/18/2022]
Abstract
Motion tracking techniques have been extensively studied in recent years. However, capturing movements of the upper limbs is a challenging task. This document presents the estimation of arm orientation and elbow and wrist position using wearable flexible sensors (WFSs). A study was developed to obtain the highest range of motion (ROM) of the shoulder with as few sensors as possible, and a method for estimating arm length and a calibration procedure was proposed. Performance was verified by comparing measurement of the shoulder joint angles obtained from commercial two-axis soft angular displacement sensors (sADS) from Bend Labs and from the ground truth system (GTS) OptiTrack. The global root-mean-square error (RMSE) for the shoulder angle is 2.93 degrees and 37.5 mm for the position estimation of the wrist in cyclical movements; this measure of RMSE was improved to 13.6 mm by implementing a gesture classifier.
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Affiliation(s)
- Aldo-Francisco Contreras-González
- Centro de Automática y Robótica (CAR) UPM-CSIC, ETS Ingenieros Industriales, Universidad Politécnica de Madrid, Calle de José Gutiérrez Abascal, 2, 28006 Madrid, Spain; (A.-F.C.-G.); (M.F.); (F.J.S.-S.)
| | - Manuel Ferre
- Centro de Automática y Robótica (CAR) UPM-CSIC, ETS Ingenieros Industriales, Universidad Politécnica de Madrid, Calle de José Gutiérrez Abascal, 2, 28006 Madrid, Spain; (A.-F.C.-G.); (M.F.); (F.J.S.-S.)
| | - Miguel Ángel Sánchez-Urán
- Centro de Automática y Robótica (CAR) UPM-CSIC, ETS Ingenieros Industriales, Universidad Politécnica de Madrid, Calle de José Gutiérrez Abascal, 2, 28006 Madrid, Spain; (A.-F.C.-G.); (M.F.); (F.J.S.-S.)
- ETS Ingeniería y Diseño Industrial, Universidad Politécnica de Madrid, Ronda de Valencia, 3, 28012 Madrid, Spain;
- Correspondence:
| | - Francisco Javier Sáez-Sáez
- Centro de Automática y Robótica (CAR) UPM-CSIC, ETS Ingenieros Industriales, Universidad Politécnica de Madrid, Calle de José Gutiérrez Abascal, 2, 28006 Madrid, Spain; (A.-F.C.-G.); (M.F.); (F.J.S.-S.)
| | - Fernando Blaya Haro
- ETS Ingeniería y Diseño Industrial, Universidad Politécnica de Madrid, Ronda de Valencia, 3, 28012 Madrid, Spain;
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