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Robotics and Sensors for Rehabilitation

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A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Biomedical Sensors".

Deadline for manuscript submissions: closed (20 May 2023) | Viewed by 11921

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Special Issue Editors

Prof. Dr. Rory A. Cooper

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Guest Editor

School of Health and Rehabilitation Sciences, University ofPittsburgh, Pittsburgh, PA, USA
Interests: wheelchair selection and configuration; orthopedic surgery; rehabilitation

Dr. Jorge L. Candiotti

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Guest Editor

Human Engineering Research Laboratories, Department of Veterans Affairs, Pittsburgh, PA, USA
Interests: human engineering research; rehabilitation robotics; human–robotic interaction
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Special Issue Information

Dear Colleagues,

Over the past 40 years, the field of robotics has played a key role in the rehabilitation and post-rehabilitation of people with disabilities to regain or enhance their health, independence, and quality of life. Rehabilitation robots combine sensors, actuation and advanced control algorithms to maximize people’s mobility. These robots can be divided into therapy robots, which are usually mounted in particular extremities to recover movement over time (e. g. exoskeletons, robotic arms), and assistive robots, which aid or complement a lost function of people with severe impairments in performing activities of daily living (e.g. power wheelchairs, prosthetics). Additionally, sensors have been used during and after rehabilitation for monitoring the health of people with disabilities to reduce secondary injuries and develop clinical guidelines and recommendations. The goal of this special issue is to compile the advances and applications of robots and sensors in rehabilitation. These topics include, but are not limited to add-on or integrated sensors to monitor people’s health and prevent secondary injuries, and rehabilitation robots to enhance people’s mobility and independence in performing community-based activities.

Potential topics include, but are not limited to:
• Healthcare monitoring
• Secondary injury prevention
• Internet of Things (IoT)
• Wearable devices
• Smart homes
• Environment detection and navigation
• Robotic wheelchairs
• Exoskeletons
• Robot manipulators

Prof. Dr. Rory A. Cooper
Dr. Jorge L. Candiotti
Guest Editors

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Keywords

body motion
seating and mobility
injury prevention
workload
mobility
rehabilitation engineering
wheelchairs
assistive technology
smart homes
environment navigation

Published Papers (6 papers)

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Research

20 pages, 8306 KiB

Open AccessArticle

Development of a Control Strategy in an Isokinetic Device for Physical Rehabilitation

by Jorge Andrés Peñaloza-González, Sergey González-Mejía and José Isidro García-Melo

Sensors 2023, 23(13), 5827; https://doi.org/10.3390/s23135827 - 22 Jun 2023

Cited by 2 | Viewed by 1537

Abstract

Robotic-assisted rehabilitation is currently being applied to improve the effectiveness of human gait rehabilitation and recover the mobility and strength after a stroke or spinal cord injury; a robotic assistant can allow the active participation of the patient and the supervision of the collected data and decrease the labor required from therapists during the patient’s training exercises. The goal of gait rehabilitation with robotic-based assistance is to restore motor function by using diverse control strategies, taking account of the physical interaction with the lower limbs of the patient. Over the last few years, researchers have extracted useful information from the patient’s biological signals that can effectively reflect movement intention and muscle activation. One way to evaluate progress in rehabilitation is through isokinetic prototype tests that describe the dynamic characteristics of an isokinetic leg extension device for rehabilitation and control action. These tests use an isokinetic system to assess muscle strength and performance in a patient during isometric or isokinetic contraction. An experimental prototype shown in the following work allows the device’s performance to be evaluated in a controlled environment before the patient’s use. New features provide a control system that can be teleoperated for distributed structures, enabling the remote operation and management of the device. In order to achieve physical recovery from musculoskeletal injuries in the lower limbs and the reintegration of the affected subject into society as an independent and autonomous individual in their daily activities, a control model that introduces a medical isokinetic rehabilitation protocol is presented, in which the element that carries out such protocol consists of a magnetic particle brake whose control action is strongly influenced by the dynamics of the system when in contact with the end user—specifically, the patient’s legs in the stretch from the knee to the ankle. The results of these tests are valuable for health professionals seeking to measure their patient’s progress during the rehabilitation process and determine when it is safe and appropriate to advance in their treatment. Full article

(This article belongs to the Special Issue Robotics and Sensors for Rehabilitation)

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20 pages, 8471 KiB

Open AccessArticle

Participatory Action Design and Engineering of Powered Personal Transfer System for Wheelchair Users: Initial Design and Assessment

by Shantanu A. Satpute, Jorge Luis Candiotti, Jonathan A. Duvall, Hailee Kulich, Rosemarie Cooper, Garrett G. Grindle, Benjamin Gebrosky, Josh Brown, Ian Eckstein, Sivashankar Sivakanthan, Nikitha Deepak, Joshua Kanode and Rory A. Cooper

Sensors 2023, 23(12), 5540; https://doi.org/10.3390/s23125540 - 13 Jun 2023

Viewed by 1474

Abstract

Caregivers that assist with wheelchair transfers are susceptible to back pain and occupational injuries. The study describes a prototype of the powered personal transfer system (PPTS) consisting of a novel powered hospital bed and a customized Medicare Group 2 electric powered wheelchair (EPW) working together to provide a no-lift solution for transfers. The study follows a participatory action design and engineering (PADE) process and describes the design, kinematics, and control system of the PPTS and end-users’ perception to provide qualitative guidance and feedback about the PPTS. Thirty-six participants (wheelchair users (n = 18) and caregivers (n = 18)) included in the focus groups reported an overall positive impression of the system. Caregivers reported that the PPTS would reduce the risk of injuries and make transfers easier. Feedback revealed limitations and unmet needs of mobility device users, including a lack of power seat functions in the Group-2 wheelchair, a need for no-caregiver assistance/capability for independent transfers, and a need for a more ergonomic touchscreen. These limitations may be mitigated with design modifications in future prototypes. The PPTS is a promising robotic transfer system that may aid in the higher independence of powered wheelchair users and provide a safer solution for transfers. Full article

(This article belongs to the Special Issue Robotics and Sensors for Rehabilitation)

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17 pages, 4307 KiB

Open AccessArticle

Slip Detection Strategies for Automatic Grasping in Prosthetic Hands

by Peter Kyberd

Sensors 2023, 23(9), 4433; https://doi.org/10.3390/s23094433 - 30 Apr 2023

Cited by 1 | Viewed by 1732

Abstract

The detection of an object slipping within the grasp of a prosthetic hand enables the hand to react to ensure the grasp is stable. The computer controller of a prosthetic hand needs to be able to unambiguously detect the slide from other signals. Slip can be detected from the surface vibrations made as the contact between object and terminal device shifts. A second method measures the changes in the normal and tangential forces between the object and the digits. After a review of the principles of how the signals are generated and the detection technologies are employed, this paper details the acoustic and force sensors used in versions of the Southampton Hand. Attention is given to the techniques used in the field. The performance of the Southampton tube sensor is explored. Different surfaces are slid past a sensor and the signals analysed. The resulting signals have low-frequency content. The signals are low pass filtered and the resulting processing results in a consistent response across a range of surfaces. These techniques are fast and not computationally intensive, which makes them practical for a device that is to be used daily in the field. Full article

(This article belongs to the Special Issue Robotics and Sensors for Rehabilitation)

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17 pages, 4003 KiB

Open AccessArticle

Reliability of 3D Depth Motion Sensors for Capturing Upper Body Motions and Assessing the Quality of Wheelchair Transfers

by Alicia Marie Koontz, Ahlad Neti, Cheng-Shiu Chung, Nithin Ayiluri, Brooke A. Slavens, Celia Genevieve Davis and Lin Wei

Sensors 2022, 22(13), 4977; https://doi.org/10.3390/s22134977 - 30 Jun 2022

Cited by 1 | Viewed by 1655

Abstract

Wheelchair users must use proper technique when performing sitting-pivot-transfers (SPTs) to prevent upper extremity pain and discomfort. Current methods to analyze the quality of SPTs include the TransKinect, a combination of machine learning (ML) models, and the Transfer Assessment Instrument (TAI), to automatically score the quality of a transfer using Microsoft Kinect V2. With the discontinuation of the V2, there is a necessity to determine the compatibility of other commercial sensors. The Intel RealSense D435 and the Microsoft Kinect Azure were compared against the V2 for inter- and intra-sensor reliability. A secondary analysis with the Azure was also performed to analyze its performance with the existing ML models used to predict transfer quality. The intra- and inter-sensor reliability was higher for the Azure and V2 (n = 7; ICC = 0.63 to 0.92) than the RealSense and V2 (n = 30; ICC = 0.13 to 0.7) for four key features. Additionally, the V2 and the Azure both showed high agreement with each other on the ML outcomes but not against a ground truth. Therefore, the ML models may need to be retrained ideally with the Azure, as it was found to be a more reliable and robust sensor for tracking wheelchair transfers in comparison to the V2. Full article

(This article belongs to the Special Issue Robotics and Sensors for Rehabilitation)

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14 pages, 2297 KiB

Open AccessArticle

Development of a Vision-Guided Shared-Control System for Assistive Robotic Manipulators

by Dan Ding, Breelyn Styler, Cheng-Shiu Chung and Alexander Houriet

Sensors 2022, 22(12), 4351; https://doi.org/10.3390/s22124351 - 8 Jun 2022

Cited by 6 | Viewed by 1609

Abstract

Assistive robotic manipulators (ARMs) provide a potential solution to mitigating the difficulties and lost independence associated with manipulation deficits in individuals with upper-limb impairments. However, achieving efficient control of an ARM can be a challenge due to the multiple degrees of freedom (DoFs) of an ARM that need to be controlled. This study describes the development of a vision-guided shared-control (VGS) system and how it is applied to a multi-step drinking task. The VGS control allows the user to control the gross motion of the ARM via teleoperation and commands the ARM to autonomously perform fine manipulation. A bench-top test of the autonomous actions showed that success rates for different subtasks ranged from 80% to 100%. An evaluation with three test pilots showed that the overall task performance, in terms of success rate, task completion time, and joystick mode-switch frequency, was better with VGS than with teleoperation. Similar trends were observed with a case participant with a spinal cord injury. While his performance was better and he perceived a smaller workload with VGS, his perceived usability for VGS and teleoperation was similar. More work is needed to further improve and test VGS on participants with disabilities. Full article

(This article belongs to the Special Issue Robotics and Sensors for Rehabilitation)

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16 pages, 3385 KiB

Open AccessArticle

User Participatory Design of a Wearable Focal Vibration Device for Home-Based Stroke Rehabilitation

by Hongwu Wang, Mustafa Ghazi, Raghuveer Chandrashekhar, Josiah Rippetoe, Grace A. Duginski, Louis V. Lepak, Lisa R. Milhan and Shirley A. James

Sensors 2022, 22(9), 3308; https://doi.org/10.3390/s22093308 - 26 Apr 2022

Cited by 4 | Viewed by 2538

Abstract

Stroke often leads to the significant impairment of upper limb function and is associated with a decreased quality of life. Despite study results from several interventions for muscle activation and motor coordination, wide-scale adoption remains largely elusive due to under-doses and low user compliance and participation. Recent studies have shown that focal vibration has a greater potential to increase and coordinate muscle recruitment and build muscle strength and endurance. This form of treatment could widely benefit stroke survivors and therapists. Thus, this study aimed to design and develop a novel wearable focal vibration device for upper limb rehabilitation in stroke survivors. A user participatory design approach was used for the design and development. Five stroke survivors, three physical therapists, and two occupational therapists were recruited and participated. This pilot study may help to develop a novel sustainable wearable system providing vibration-based muscle activation for upper limb function rehabilitation. It may allow users to apply the prescribed vibratory stimuli in-home and/or in community settings. It may also allow therapists to monitor treatment usage and user performance and adjust the treatment doses based on progression. Full article

(This article belongs to the Special Issue Robotics and Sensors for Rehabilitation)

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