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Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots

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A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Mechanical Engineering".

Deadline for manuscript submissions: closed (30 September 2019) | Viewed by 40447

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Prof. Dr. Yuko Ohno

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Guest Editor

Division of Robotics & Design for Innovative Healthcare, School of Medicine, Osaka University, Osaka Prefecture 565-0871, Japan
Interests: human-robot (computer) interactions for better care and rehabilitation; care biomechanics; posture cooperative analysis with AI; nursing engineering
Special Issues, Collections and Topics in MDPI journals

Dr. Jeong Hieyong

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Guest Editor

Division of Robotics and Design for Innovative Healthcare, School of Medicine, Osaka University, Osaka Prefecture 565-0871, Japan
Interests: human–robot(computer) interactions; care and rehabilitation; care biomechanics; posture cooperative analysis; nursing engineering
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

For any child, playing, eating and sleeping is absolutely necessary. It supports children’s daily mind and body recovery, in other words, “rehabilitation”. The same can be said of people of all ages. The best nursing care is also playing, eating, and sleeping.

In this Special Issue, we will display imaginative approaches and innovative methods that shape the best “rehabilitation” and “nursing care”. Topics will include robotics, medical engineering, nursing, rehabilitation, cognitive science, emotional engineering, and AI. We welcome unpublished papers from researchers in any field.

The following lyrics may help to stimulate your ideas.

Every breath you take, every move you make, every step you take,

We’ll be watching you

Every word you say, every game you play, every bond you break,

We’ll understand and help you.

Prof. Yuko Ohno
Dr. Jeong Hieyong
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

non-invasive and free monitoring
evaluation for rehabilitation
evaluation for nursing-care
voluntary rehabilitation

Published Papers (10 papers)

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Research

19 pages, 1980 KiB

Open AccessArticle

Expectation vs. Reality: Attitudes Towards a Socially Assistive Robot in Cardiac Rehabilitation

by Jonathan A. Casas, Nathalia Céspedes, Carlos A. Cifuentes, Luisa F. Gutierrez, Mónica Rincón-Roncancio and Marcela Múnera

Appl. Sci. 2019, 9(21), 4651; https://doi.org/10.3390/app9214651 - 1 Nov 2019

Cited by 24 | Viewed by 5326

Abstract

Currently, Social Assistive Robotics (SAR) is widely explored in different areas and scenarios. In cardiac rehabilitation, SAR has been recently implemented as a tool to improve the quality of the procedures and support patients to boost their performance. As cardiac rehabilitation comprises numerous sessions, such systems must guarantee to be effective in the long term. Therefore, to achieve this goal, it is important to understand how users, namely patients and clinicians who mostly know the needs and the therapy environment, perceive this technology. In this context, this paper presents the assessment of the attitudes towards a social robot in order to evaluate the expectation of potential new users, and perception of users who interacted with the social robot during a period of 18 weeks performing cardiac rehabilitation. A total of 43 participants (28 patients and 15 clinicians) were included in the study, and acceptance and perception factors were evaluated through a modified UTAUT questionnaire model and open discussion sessions. Results show that 75% of patients have positive thoughts regarding the usefulness, utility, safety, and trust perceived of a social robot, and 80% of clinicians consider that the robot is a useful tool for cardiac rehabilitation. Similarly, a more positive perception was noticed after the users interacted with the robot. Furthermore, this perception study allows the enhancement of the social model of interaction in the future, aiming to provide a more natural interaction trough personalized features, increasing social abilities and engagement of the users during the therapy. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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17 pages, 4337 KiB

Open AccessArticle

Development and Control of an Electro-Hydraulic Actuator System for an Exoskeleton Robot

by Dongyoung Lee, Buchun Song, Sang Yong Park and Yoon Su Baek

Appl. Sci. 2019, 9(20), 4295; https://doi.org/10.3390/app9204295 - 12 Oct 2019

Cited by 20 | Viewed by 6145

Abstract

Exoskeleton robots have been developed in various fields and are divided into electric and hydraulic exoskeletons according to the actuator type. In the case of hydraulic robots, because a unidirectional pump is applied, there are limitations to the wearer’s walking. In addition, robot systems are complicated, because a directional control valve is required to change the direction of the actuator. To solve these problems, we designed the electro-hydraulic actuator (EHA) system which has both the hydraulic and electric advantages. The EHA system consists of a hydraulic bidirectional pump, a motor, a hydraulic cylinder, and various valves. For the development of the piston pump, we analyzed the gait cycle and considered the flow rate and pulsation rate. In order to reduce the size and weight of the EHA system, the valves were made from one manifold, and the hydraulic circuit was simplified. We verified that the developed EHA system is applicable to robots through position and force control experiments. Because the hydraulic system is nonlinear, we designed a sliding mode control (SMC) and compared it with the proportional integral derivative (PID) controller. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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19 pages, 1707 KiB

Open AccessArticle

Promoting Optimal User Experience through Composite Challenge Tasks

by Ricardo Cruz and Luis A. Pineda

Appl. Sci. 2019, 9(19), 4106; https://doi.org/10.3390/app9194106 - 1 Oct 2019

Viewed by 1993

Abstract

Optimal user experience or flow is a theory with great impact on user experience. Promoting flow has become a competitive advantage for interactive systems, including rehabilitation. This can be achieved through an engaging interface that provides a rewarding experience and motivates the user to use the system again. This theory sustains that promoting a state of flow and improving task performance depends heavily on the balance between the challenges posed by the system and the skills deployed by the user. We further claim that balanced mental and motor skills demanded by the task improve flow and task performance. This paper presents an experiment supporting these claims. For this, we built two movement-interaction rehabilitation systems called SIBMER and Macoli (arm in Náhuatl). Both systems have two versions, one with a balanced load of mental and motor skills, and the other with an unbalanced one. Both versions are compared in terms of their potential to promote the state of flow and to improve task performance. Results show that a balance demand of mental and motor skills promotes flow, independently of the task complexity. Likewise, the experiment shows a correlation between flow and performance. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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9 pages, 532 KiB

Open AccessArticle

Effect of Sensory Loss on Improvements of Upper-Limb Paralysis Through Robot-Assisted Training: A Preliminary Case Series Study

by Hiroyuki Miyasaka, Kotaro Takeda, Hitoshi Ohnishi, Abbas Orand and Shigeru Sonoda

Appl. Sci. 2019, 9(18), 3925; https://doi.org/10.3390/app9183925 - 19 Sep 2019

Cited by 6 | Viewed by 2647

Abstract

Sensory disorder is a factor preventing recovery from motor paralysis after stroke. Although several robot-assisted exercises for the hemiplegic upper limb of stroke patients have been proposed, few studies have examined improvement in function in stroke patients with sensory disorder using robot-assisted training. In this study, the efficacies of robot training for the hemiplegic upper limb of three stroke patients with complete sensory loss were compared with those of 19 patients without complete sensory loss. Robot training to assist reach motion was performed in 10 sessions over a 2-week period for 5 days per week at 1 h per day. Before and after the training, the total Fugl–Meyer Assessment score excluding coordination and tendon reflex (FMA-total) and the FMA shoulder and elbow score excluding tendon reflex (FMA-S/E) were evaluated. Reach and path errors (RE and PE) during the reach motion were also evaluated by the arm-training robot. In most cases, both the FMA-total and the FMA-S/E scores improved. Cases with complete sensory loss showed worse RE and PE scores. Our results suggest that motor paralysis is improved by robot training. However, improvement may be varied according to the presence or absence of somatic sensory feedback. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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14 pages, 2005 KiB

Open AccessArticle

Comparison of Feature Vector Compositions to Enhance the Performance of NIRS-BCI-Triggered Robotic Hand Orthosis for Post-Stroke Motor Recovery

by Jongseung Lee, Nobutaka Mukae, Jumpei Arata, Koji Iihara and Makoto Hashizume

Appl. Sci. 2019, 9(18), 3845; https://doi.org/10.3390/app9183845 - 13 Sep 2019

Cited by 10 | Viewed by 2738

Abstract

Recently, brain–computer interfaces, combined with feedback systems and goal-oriented training, have been investigated for their capacity to promote functional recovery after stroke. Accordingly, we developed a brain–computer interface-triggered robotic hand orthosis that assists hand-closing and hand-opening for post-stroke patients without sufficient motor output. In this system, near-infrared spectroscopy is used to monitor the affected motor cortex, and a linear discriminant analysis-based binary classifier estimates hand posture. The estimated posture then wirelessly triggers the robotic hand orthosis. For better performance of the brain–computer interface, we tested feature windows of different lengths and varying feature vector compositions with motor execution data from seven neurologically intact participants. The interaction between a feature window and a delay in the hemodynamic response significantly affected both classification accuracy (Matthew Correlation Coefficient) and detection latency. The ‘preserving channels’ feature vector was able to increase accuracy by 13.14% and decrease latency by 29.48%, relative to averaging. Oxyhemoglobin combined with deoxyhemoglobin improved accuracy by 3.71% and decreased latency by 6.01% relative to oxyhemoglobin alone. Thus, the best classification performance resulted in an accuracy of 0.7154 and a latency of 2.8515 s. The hand rehabilitation system was successfully implemented using this feature vector composition, which yielded better classification performance. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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14 pages, 2852 KiB

Open AccessArticle

Development of New Soft Wearable Balance Exercise Device Using Pneumatic Gel Muscles

by Masataka Yamamoto, Yusuke Kishishita, Koji Shimatani and Yuichi Kurita

Appl. Sci. 2019, 9(15), 3108; https://doi.org/10.3390/app9153108 - 1 Aug 2019

Cited by 7 | Viewed by 2951

Abstract

Decreased ability to control posture is correlated with the risk of falls among older individuals. In particular, reactive postural control ability response to even small perturbations is important for fall prevention of older individuals. The current study sought to design a new wearable assistive device for improving balance function by generating small perturbations using pneumatic gel muscle (PGM). Furthermore, we investigated the effects of using the proposed device for balance training. The proposed wearable balance exercise device utilized PGMs possessing various features, such as a lightweight design and the ability to generate small perturbations with a small power source. We investigated the effects of the device on reactive postural control exercises. Seven healthy participants participated in this study. Three-dimensional acceleration data (Ax, Ay, and Az) were measured from participants during a single leg stance in each session. The peak Ax value generated by perturbations and responses significantly differed from baseline peak acceleration. The peak Ay value caused by perturbations was significantly decreased compared with baseline peak acceleration. In addition, the root mean square Ax value of the post-test significantly decreased compared with the pre-test value. Our results revealed that the proposed wearable balance exercise device was able to create small perturbations for assessing reactive postural balance control. Furthermore, the device was able to improve users’ stability. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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12 pages, 2799 KiB

Open AccessArticle

Vision-Assisted Interactive Human-in-the-Loop Distal Upper Limb Rehabilitation Robot and its Clinical Usability Test

by Hyung Seok Nam, Nhayoung Hong, Minwoo Cho, Chiwon Lee, Han Gil Seo and Sungwan Kim

Appl. Sci. 2019, 9(15), 3106; https://doi.org/10.3390/app9153106 - 1 Aug 2019

Cited by 12 | Viewed by 4033

Abstract

In the context of stroke rehabilitation, simple structures and user-intent driven actuation are relevant features to facilitate neuroplasticity as well as deliver a sufficient number of repetitions during a single therapy session. A novel robotic treatment device for distal upper limb rehabilitation in stroke patients was developed, and a usability test was performed to assess its clinical feasibility. The rehabilitation robot was designed as a two-axis exoskeleton actuated by electric motors, consisting of forearm supination/pronation and hand grasp/release, which were selected based on a kinematic analysis of essential daily activities. A vision-assisted algorithm was utilized for user-intent extraction in a human-in-the-loop concept. A usability test was performed on six physiatrists, five biomedical engineers, five rehabilitation therapists, two chronic stroke patients, and two caregivers of the patients. After sufficient instruction, all subjects tested the robot for a minimum of 10 min and completed the evaluation form using a 7-point Likert scale. The participants found the device interesting (5.7 ± 1.2), motivating (5.8 ± 0.9), and as having less possibility of causing injury or safety issues (6.1 ± 1.1); however, the appropriateness of difficulty (4.8 ± 1.9) and comfort level (4.9 ± 1.3) were found to be relatively low. Further development of the current device would provide a good treatment option as a simple, low-cost, and clinically feasible rehabilitation robot for stroke. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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16 pages, 3734 KiB

Open AccessArticle

Design of an Active and Passive Control System of Hand Exoskeleton for Rehabilitation

by Fuhai Zhang, Legeng Lin, Lei Yang and Yili Fu

Appl. Sci. 2019, 9(11), 2291; https://doi.org/10.3390/app9112291 - 3 Jun 2019

Cited by 24 | Viewed by 5424

Abstract

Aiming at stroke patients’ hand rehabilitation training, we present a hand exoskeleton with both active and passive control modes for neural rehabilitation. The exoskeleton control system is designed as a human–robot interaction control system based on field-programmable gate array (FPGA) and Android mobile terminal with good portability and openness. Passive rehabilitation pattern based on proportional derivative (PD) inverse dynamic control method and active rehabilitation pattern based on impedance method, are established respectively. By the comparison of the threshold value and the force on the fingertip of the exoskeleton from the sensor, the automatic switch between active and passive rehabilitation mode is accomplished. The hand model is built in Android environment that can synchronize the movement of the hand. It can also induce patients to participate in rehabilitation training actively. To verify the proposed control approach, we set up and conduct an experiment to do the passive rehabilitation mode, active rehabilitation mode, and active plus passive mode experimental researches. The experiment results effectively verify the feasibility of the exoskeleton system fulfilling the proposed control strategy. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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21 pages, 5088 KiB

Open AccessArticle

Gaussian Process-Integrated State Space Model for Continuous Joint Angle Prediction from EMG and Interactive Force in a Human-Exoskeleton System

by Yan Zeng, Jiantao Yang and Yuehong Yin

Appl. Sci. 2019, 9(8), 1711; https://doi.org/10.3390/app9081711 - 25 Apr 2019

Cited by 14 | Viewed by 4715

Abstract

As one of the most direct indicators of the transparency between a human and an exoskeleton, interactive force has rarely been fused with electromyography (EMG) in the control of human-exoskeleton systems, the performances of which are largely determined by the accuracy of the continuous joint angle prediction. To achieve intuitive and naturalistic human intent learning, a state space model (SSM) for continuous angle prediction of knee joint is developed. When the influence of the interactive force is often ignored in the existing models of human-exoskeleton systems, interactive force is applied as the measurement model output of the proposed SSM, and the EMG signal is used as the state model input signal to indicate muscle activation. The forward dynamics of joint motion and the human-machine interaction mechanism, i.e., the biomechanical interpretations of the interactive force generation mechanism, are derived as the bases for the state model and measurement model based on Hill’s muscle model and semiphenomenological (SP) muscular model, respectively. Gaussian process (GP)-based nonlinear autoregressive with the exogenous inputs (NARX) model and back-propagation neural network (BPNN) are applied to provide better adaptivity for the SSM in practical applications. Corresponding experimental results demonstrate the validity and superiority of the method. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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14 pages, 4908 KiB

Open AccessArticle

A Telepresence System for Therapist-in-the-Loop Training for Elbow Joint Rehabilitation

by Songyuan Zhang, Qiang Fu, Shuxiang Guo and Yili Fu

Appl. Sci. 2019, 9(8), 1710; https://doi.org/10.3390/app9081710 - 25 Apr 2019

Cited by 14 | Viewed by 3632

Abstract

This paper proposes a new robotic rehabilitation training platform that is motivated by the requirement for adjusting the training strategy and intensity in a patient-specific manner. The platform is implemented for tele-rehabilitation and is comprised of a haptic device operated by therapists, a lightweight exoskeleton worn by patients and a visually shared model. Through the visually shared model, the motion of the therapist and patient are measured and mapped to the motion of the corresponding object. Thus, the force generated by the therapist can be transferred to the patient for delivering training, while real-time force feedback with high transparency can be provided to the therapist so they know the amount of force being applied to patients in real time. In particular, both assistive therapy in the early stages and resistive therapy in the later stages of stroke can be performed. The home-use exoskeleton device is specifically designed to be light-weight and compliant for safety. The patient-exoskeleton and therapist-haptic interaction performance is evaluated by observing the muscle activities and interaction force. Two volunteers were requested to imitate the process of the therapist-in-the-loop training to evaluate the proposed platform. Full article

(This article belongs to the Special Issue Recent Advance and Future Trends in Rehabilitation and Nursing-Care Robots)

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