Rehabilitation Robotics: Technology and Application [Pehme köide]

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Edited by (Dept. of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genova Genoa, Italy), Edited by (Bioengineering Dept., Fondazione Salvatore Maugeri Pavia, Italy)
  • Formaat: Paperback / softback, 382 pages, kõrgus x laius: 234x191 mm, kaal: 800 g
  • Ilmumisaeg: 10-Mar-2018
  • Kirjastus: Academic Press Inc
  • ISBN-10: 0128119950
  • ISBN-13: 9780128119952
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Rehabilitation Robotics: Technology and ApplicationSuurem pilt
  • Formaat: Paperback / softback, 382 pages, kõrgus x laius: 234x191 mm, kaal: 800 g
  • Ilmumisaeg: 10-Mar-2018
  • Kirjastus: Academic Press Inc
  • ISBN-10: 0128119950
  • ISBN-13: 9780128119952
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Püsilink: https://www.kriso.ee/db/9780128119952.html

Rehabilitation Robotics gives an introduction and overview of all areas of rehabilitation robotics, perfect for anyone new to the field. It also summarizes available robot technologies and their application to different pathologies for skilled researchers and clinicians. The editors have been involved in the development and application of robotic devices for neurorehabilitation for more than 15 years. This experience using several commercial devices for robotic rehabilitation has enabled them to develop the know-how and expertise necessary to guide those seeking comprehensive understanding of this topic.

Each chapter is written by an expert in the respective field, pulling in perspectives from both engineers and clinicians to present a multi-disciplinary view. The book targets the implementation of efficient robot strategies to facilitate the re-acquisition of motor skills. This technology incorporates the outcomes of behavioral studies on motor learning and its neural correlates into the design, implementation and validation of robot agents that behave as ‘optimal’ trainers, efficiently exploiting the structure and plasticity of the human sensorimotor systems. In this context, human-robot interaction plays a paramount role, at both the physical and cognitive level, toward achieving a symbiotic interaction where the human body and the robot can benefit from each other’s dynamics.

  • Provides a comprehensive review of recent developments in the area of rehabilitation robotics
  • Includes information on both therapeutic and assistive robots
  • Focuses on the state-of-the-art and representative advancements in the design, control, analysis, implementation and validation of rehabilitation robotic systems

Muu info

A comprehensive view of the field of rehabilitation robotics, spanning from basic science concepts to clinical applications
Contributors xv
Rehabilitation Robotics: Technology and Applications xix
Chapter 1 Physiological Basis of Neuromotor Recovery
1(14)
Introduction
1(1)
The Functional Organization of the Motor Network
1(1)
Motor Network Activity and Movement
2(2)
The Physiology of Ischemic Infarctions
4(1)
Motor Deficits Following Stroke
5(1)
Motor Network Plasticity Following Infarction
5(1)
Functional Plasticity Following Infarction
6(1)
Human Studies
6(2)
Animal Models of Cortical Injury
8(1)
Conclusions and Implications for Rehabilitative Therapies
8(2)
References
10(5)
Chapter 2 An Overall Framework for Neurorehabilitation Robotics: Implications for Recovery is
Introduction
15(1)
Hierarchical Architecture of the Motor System
15(1)
Functional Synergies
16(2)
Neural Plasticity and Functional Recovery, After Lesion of the Central Nervous System
18(1)
The Neurobiology of Motor Skills Acquisition and Learning for Rehabilitation
18(1)
Rehabilitation Modalities
19(3)
Characteristics of Successful Strategies for Neurorehabilitation: Clinical Evidence
22(2)
Conclusion
24(1)
References
25(4)
Chapter 3 Biomechatronic Design Criteria of Systems for Robot-Mediated Rehabilitation Therapy
29(18)
Introduction
29(3)
Design Criteria of Biomechatronic Devices for Robot-Mediated Rehabilitation
32(3)
Modeling the Human Component
35(3)
Overview of Control Strategies
38(2)
The CBM-Motus and the LENAR: Two Case Studies
40(4)
CBM-Motus: A Planar Robot for Upper Limb Neurorehabilitation
40(2)
LENAR: A Nonanthropomorphic Wearable Exoskeleton for Human Walking Assistance and Rehabilitation
42(2)
Conclusions
44(1)
References
45(2)
Chapter 4 Actuation for Robot-Aided Rehabilitation: Design and Control Strategies
47(16)
Introduction
47(1)
Robot Architectures and Actuators
48(2)
Control Strategies
50(4)
Mechanical Impedance/Admittance Control
52(2)
Friction and Backlash Compensation
54(4)
Friction
55(2)
Backlash
57(1)
Implications for the Control of Rehabilitation Robots
58(1)
Conclusion
58(1)
References
59(4)
Chapter 5 Assistive Controllers and Modalities for Robot-Aided Neurorehabilitation
63(12)
Introduction
63(1)
Therapeutic Exercises
64(1)
Haptic Simulation
64(1)
Challenge-Based
64(1)
Assistive
64(1)
Assistive Scenarios
65(4)
Assistive Controllers
65(1)
Assistance Modalities
66(3)
Regulation of Assistance
69(2)
Other Types of Assistance
71(1)
Bilateral Training
71(1)
Sensory Training
71(1)
Conclusions
72(1)
References
72(3)
Chapter 6 Exoskeletons for Upper Limb Rehabilitation
75(14)
Introduction
75(1)
Design of Exoskeletons
76(8)
Kinematic Issues in Exoskeleton Design
76(2)
Actuation Issues
78(6)
Clinical Evidences of Upper Limb Rehabilitation With Exoskeletons
84(1)
Conclusions
85(1)
References
85(4)
Chapter 7 Exoskeletons for Lower-Limb Rehabilitation
89(12)
Introduction
89(1)
Lower Limb Exoskeletons for Rehabilitation: State of the Art
89(1)
New Horizons for Wearable Exoskeleton Technology: Symbiotic Interaction
90(6)
Bioinspired Actuation in Wearable Exoskeletons for Walking
91(2)
Bioinspired Control
93(3)
Conclusion
96(1)
References
97(2)
Further Reading
99(2)
Chapter 8 Performance Measures in Robot Assisted Assessment of Sensorimotor Functions
101(16)
Introduction
101(1)
Classification of Robot-Measured Parameters
102(6)
Measures Describing Motor Function
102(4)
Measures Describing Sensory Function
106(2)
Measures Describing Cognitive Function
108(1)
Monitoring Components of Motor Recovery
108(1)
Modeling Motor Recovery
109(2)
Adapting Therapy Based on Motor Performance
111(1)
Relationship Between Clinical and Robotic Measures
112(1)
Conclusion
113(1)
References
113(4)
Chapter 9 Computational Models of the Recovery Process in Robot-Assisted Training
117(20)
Introduction
117(1)
Computational Models of Motor Learning
118(6)
Models of Sensorimotor Adaptation
118(4)
Models of Motor Skill Learning
122(2)
Models of Neuromotor Recovery
124(6)
Models of Recovery at Neural Level
124(3)
Models of Recovery at Function Level
127(1)
Modeling the Role of Robot Assistance
128(2)
Multirate and Spatial Generalization Models of Recovery
130(1)
System Identification Techniques
130(2)
Conclusions
132(1)
References
133(4)
Chapter 10 Interactive Robot Assistance for Upper-Limb Training
137(12)
Introduction
137(2)
Optimal Control Interaction Framework
139(3)
Master-Slave Interaction for Passive Training
140(1)
Education-Type Interaction for Physical Rehabilitation
141(1)
Interaction With Poststroke Individuals
141(1)
Challenging Physical Rehabilitation Through Competition
141(1)
Stable, Reactive and Adaptive Interaction Control Based on Game Theory
142(4)
Conclusion
146(1)
References
147(2)
Chapter 11 Promoting Motivation During Robot-Assisted Rehabilitation
149(10)
Introduction: Why is Motivation Important?
149(1)
Virtual Reality in Robot-Aided Rehabilitation
149(1)
Determining the Patient's Goal in a Virtual Environment
150(2)
Designing the Appearance of the Virtual Environment
152(1)
Ensuring Appropriate Challenge
153(1)
Measuring Motivation
154(1)
Conclusion
155(1)
References
155(4)
Chapter 12 Software Platforms for Integrating Robots and Virtual Environments
159(16)
Introduction
159(1)
Software Platforms
160(9)
Robot Operating System
163(1)
MATLAB/Simulink and VRML
163(2)
H3DAPI
165(1)
Chai3d
165(1)
Haptik Library
166(1)
OpenHaptics
166(1)
Unity
167(2)
Conclusions
169(1)
References
169(4)
Further Reading
173(2)
Chapter 13 Twenty+ Years of Robotics for Upper-Extremity Rehabilitation Following a Stroke
175(18)
Introduction
175(1)
Neuroscience Principles
176(2)
Rehabilitation Robotic Principles
178(2)
Backdrivability and Performance
178(1)
Impedance Control
178(1)
Adaptive Control
179(1)
MIT-Manus and Other Rehabilitation Robotics
180(9)
Big Picture
180(3)
1990's Studies: Sub-Acute Stroke Phase
183(1)
2000's Studies: Chronic Stroke
184(5)
Conclusion
189(1)
References
189(4)
Chapter 14 Three-Dimensional, Task-Oriented Robot Therapy
193(12)
Exoskeletons
193(2)
Haptic Guidance
195(1)
Task-Oriented Training
195(1)
ARMin
196(3)
ARMin Modes of Therapy
197(2)
Clinical Experience With 3D Devices
199(2)
Interpersonal Task Oriented Training
200(1)
Outlook
201(1)
References
202(3)
Chapter 15 Robot-Assisted Rehabilitation of Hand Function
205(22)
Introduction
205(1)
Robotic Approaches for Hand Rehabilitation
206(4)
Powered Hand Exoskeleton Devices
207(2)
End-Effector Hand Rehabilitation Robots
209(1)
Entire Upper Limb Solutions
210(1)
Clinical Studies on Robot-Assisted Rehabilitation of Hand Function
210(1)
Discussion
211(9)
Clinical Evidence Supports the Application of Robotic Systems for Hand Rehabilitation
211(6)
Training Modalities to Restore Hand Function and Promote Increased Intensity
217(1)
The Clinical Need for Simple Devices
217(1)
Potential to Further Promote Recovery Through Robot-Assisted Therapy of Hand Function
218(2)
Conclusions
220(1)
References
221(6)
Chapter 16 Robot-Assisted Gait Training
227(14)
Introduction
227(1)
Examples of Gait Rehabilitation Robots
228(5)
Exoskeletal Robotic Systems
228(2)
End-Effector-Based Robotic Systems
230(2)
Systems Supporting Overground Gait Training
232(1)
Control Strategies
233(1)
Clinical Outcomes
234(2)
Stroke Therapy
234(1)
Therapy of Spinal Cord Injury and Further Pathologies
235(1)
Conclusion and Outlook
236(1)
References
236(5)
Chapter 17 Wearable Robotic Systems and their Applications for Neurorehabilitation
241(12)
Introduction
241(1)
Technological Barriers and Scientific Challenges
242(1)
Compatibility of the Mechanical Structure
242(1)
Actuators
242(1)
Sensors
243(1)
Energy Expenditure
243(1)
Main Existing Devices
243(5)
Rigid Systems for Assistance to a Single Joint
243(2)
Multilink Rigid Systems for the Whole Lower Limbs
245(1)
Multilink Rigid Systems for the Upper-Limb and the Hand
246(1)
Soft Robotics and Suits
247(1)
Wearable Interactive Systems
248(1)
Conclusion
248(1)
References
249(4)
Chapter 18 Robot-Assisted Rehabilitation in Multiple Sclerosis: Overview of Approaches, Clinical Outcomes, and Perspectives
253(14)
Introduction
253(2)
Part I Upper Limb Training
255(3)
Part II Gait Training
258(5)
Clinical Effects of BWSTT and RAGT
258(3)
Biomechanical Effects of BWSTT and RAGT in the Trunk and Lower Extremity
261(1)
Conclusion of RAGT
262(1)
References
263(4)
Chapter 19 Robots for Cognitive Rehabilitation and Symptom Management
267(10)
Introduction
267(3)
A Case Study: Use of a SAR in Therapeutic Interventions With Cognitively Impaired Elderly
270(4)
Clinical Protocol for SARs: Using PARO in the Clinical Setting
270(4)
Conclusion
274(1)
References
274(3)
Chapter 20 Hybrid FES-Robot Devices for Training of Activities of Daily Living
277(12)
Introduction
277(8)
Hybrid Assistive Systems
279(3)
Hybrid Assistive Systems for the Future
282(2)
Take-Home Message
284(1)
References
285(4)
Chapter 21 Robotic Techniques for the Assessment of Proprioceptive Deficits and for Proprioceptive Training
289(16)
What Is Proprioception and Why Is It Important?
289(1)
Assessment of Proprioceptive Deficits
290(6)
Clinical Scales
290(1)
Robotic Assessment Methods
291(5)
Robotic Protocols of Proprioceptive Training
296(4)
Enriching Robotic Assistance With Supplemental Proprioceptive Feedback
299(1)
Conclusion
300(1)
References
300(5)
Chapter 22 Psychophysiological Responses During Robot-Assisted Rehabilitation
305(14)
Introduction
305(3)
Expression of Human Emotion
307(1)
Physiological Signal Acquisition
308(1)
Physiological Features
308(3)
Electrocardiogram Physiological Features
308(1)
Skin Conductance Signal Physiological Features
309(1)
Respiration Signal Physiological Features
309(1)
Peripheral Skin Temperature Physiological Features
309(1)
An Example of Recording Physiological Signals
309(2)
Physiological Responses
311(5)
Physiological Responses in Healthy Subjects
311(1)
Physiological Responses in a Stroke Population
312(1)
Using Physiological Responses to Condition Human-Robot Interaction
312(3)
Biocooperative Loop Control: State of the Art
315(1)
Conclusion
316(1)
References
316(1)
Further Reading
317(2)
Chapter 23 Muscle Synergies Approach and Perspective on Application to Robot-Assisted Rehabilitation
319(14)
Introduction
319(1)
How to Extract Muscle Synergies From Muscle Activity
319(3)
Muscle Synergies Evidences in Humans and Their Implication for Rehabilitation
322(1)
Muscle Synergies in Stroke
322(1)
Muscle Synergies in Spinal Cord Injury
323(1)
Muscle Synergies in Parkinson's Disease
324(1)
Muscle Synergies in Multiple Sclerosis
324(1)
Muscle Synergies During Robot-Assisted Rehabilitation
325(1)
Muscle Synergies as a Quantitative Assessment for Robot-Aided Rehabilitation
326(1)
Muscle Synergies for the Design of Control Strategies for Rehabilitative Devices
327(1)
Conclusions and Future Trends
328(1)
References
329(4)
Chapter 24 Telerehabilitation Robotics: Overview of Approaches and Clinical Outcomes
333(14)
Introduction and Impetus for Telerehabilitation Robotics
333(1)
Survey of Technology
334(2)
Level of User Involvement/Assistance
334(2)
Treatment Target
336(1)
Implementations
336(4)
Deployment
336(1)
Intervention Protocols, Strategies, and Dosing
337(1)
Monitoring/Oversight
338(2)
Outcomes
340(4)
Clinical
340(1)
Satisfaction and Quality of Life
341(1)
Increase Utilization
342(1)
Cost
342(2)
Conclusion and Future Directions
344(1)
References
344(3)
Index 347
He has been involved in several activities in the field of Bioengineering and Clinical Engineering including biological data acquisition, instrumentation management and interfacing, signal and image processing, data mining and statistics. He is a teacher in several national and international courses in the field of neurorehabilitationHis research interests include: robot-aided neuro-rehabilitation, muscle tone and spasticity evaluation, muscle force and fatigue assessment, speech production mechanisms study, respiratory mechanics assessment, assessment of autonomic function through heart rate variability analysis., He has authored over 100 papers and is co-editor of a book on the subject of speech production mechanisms. Vittorio Sanguineti, PhD, is an Associate Professor of Biomedical Engineering at the University of Genoa. He received a Master's degree in Electronic Engineering (1989) and a PhD in Robotics (1994), both at the University of Genoa. He Has Been working as a post-doctoral fellow at Institut National Polytechnique de Grenoble, France (1995-1996), at McGill University, Montreal, Canada (1996), and at Northwestern University Medical School, Chicago, USA (1997-1998 and 2000 ). His main areas of interest are the neural control of movement (upper limb, orofacial and postural control), motor learning and the applications of robotics to neuromotor rehabilitation.