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A 3-D Rehabilitation System for Upper Limbs "EMUL", and a 6-DOF Rehabilitation System "Robotherapist" and Other Rehabilitation Systems with High Safety InTech
Junji Furusho; Takehito Kikuchi.
High safety rehabilitation systems using functional fluid were introduced. Two units of EMUL were made in the 5-year NEDO project, and they were transferred from NEDO to Furusho Laboratory of Osaka University. We continue clinical evaluation of 3-D rehabilitation system and quasi-3-DOF rehabilitation system by using EMUL, Robotherapist and PLEMO. We have been studying rehabilitation robotics mainly from the standpoint of mechatronics and virtual reality. Now, we started to study it also from the standpoint of physical therapy and motion control of human beings.
Tipo: 8 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_3-d_rehabilitation_system_for_upper_limbs_emul_and_a_6-dof
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A Portable Robot for Tele-Rehabilitation: Remote Therapy and Outcome Evaluation InTech
Park; Hyung-Soon; Zhang; Li-Qun.
A portable rehabilitation robot for the elbow joint of neurologically impaired patients was developed to perform physical treatment task followed by the outcome evaluation for monitoring the progression of the therapy. The hardware was designed for portability by using the small actuator and compact electronic components. After defining five tasks, two controllers were developed and implemented accordingly. For the active range of motion test, a torque controller maintaining zero torque was developed to make the device back-drivable. For other tests, velocity controller with intelligent velocity adjustment algorithm was developed in order to stretch the spastic/contractured elbow joint forcefully and safely. The sequence of the tasks was organized to...
Tipo: 32 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_portable_robot_for_tele-rehabilitation__remote_therapy_and_outcome_evaluation
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An Embedded Control Platform of a Continuous Passive Motion Machine for Injured Fingers InTech
Zhang Fuxiang.
We bring forward the design philosophy of function modularization design for control platforms. With this thinking we design a control platform, which is composed of four function modules: an embedded system platform module, a power supply and management module, a motor control module and a data acquisition module. In the control platform, the embedded system platform provides a basic platform for different applications. The embedded system platform uses the ARM chip S3C2410 as its core, and embedded Linux as the OS. The embedded system platform integrates the most common interfaces of the microprocessors such as RS-232, USB HOST, Ethernet, JTAG and SD card etc. The dada acquisition module and the motor control module are based on the SPI network, which is...
Tipo: 31 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/an_embedded_control_platform_of_a_continuous_passive_motion_machine_for_injured_fingers
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Applications of a Fluidic Artificial Hand in the Field of Rehabilitation InTech
Artem Kargov; Oleg Ivlev; Christian Pylatiuk; Tamim Asfour; Stefan Schulz; Axel Graeser; Ruediger Dillmann; Georg Bretthauer.
Tipo: 15 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/applications_of_a_fluidic_artificial_hand_in_the_field_of_rehabilitation
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Applications of Robotics to Assessment and Physical Therapy of Upper Limbs of Stroke Patients InTech
M.-S. Ju; C.-C. K. Lin; S.-M. Chen; I.-S. Hwang; P.-C. Kung; Z.-W. Wu.
5-1 Advantages and Disadvantages of Robotics for Rehabilitation of Stroke Patients One may find that robotics provides an integral solution to the treatments and objective assessments of some neurological diseases such as stroke. The robots can perform repeated treatment protocols without the need of continuous involvement of therapists. A robot can save therapists' arduous efforts by helping with heavy, challenging and repetitious movements. Physical strain and professional injury in therapists can be minimized. It is cost-effective to strengthen some basic elements, such as muscle strength, range of motion, and sensorimotor coordination, in preparation for higher skill-level movement patterns on a mass-practice basis. Robotic therapy techniques can mimic...
Tipo: 14 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/applications_of_robotics_to_assessment_and_physical_therapy_of_upper_limbs_of_stroke_patients
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Bio-Inspired Interaction Control of Robotic Machines for Motor Therapy InTech
Loredana Zollo; Domenico Formica; Eugenio Guglielmelli.
In this chapter basic criteria for the design and implementation of interaction control of robotic machines for motor therapy have been briefly introduced and two bio-inspired compliance control laws developed by the authors to address requirements coming from this specific application field have been presented. The two control laws are named the coactivation-based compliance control in the joint space and the torque-dependent compliance control in the joint space, respectively. They try to overcome limitations of the traditional interaction control by taking inspiration from biological motor control, with particular attention to the mechanisms of visco-elastic regulation of the human arm. They basically differ for the strategy of stiffness regulation used...
Tipo: 33 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/bio-inspired_interaction_control_of_robotic_machines_for_motor_therapy
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Biomechanical Constraints in the Design of Robotic Systems for Tremor Suppression InTech
Juan-Manuel Belda-Lois; Alvaro Page; Jose-Maria Baydal-Bertomeu Rakel Poveda; Ricard Barbera.
Tremor suppression with robotic devices can be an alternative for people with pathological tremor resistant to conventional treatments. Common orthotic principles don't fit well for tremor suppression due to the inherent dynamic characteristics of tremor. In the design of robotic systems for tremor suppression the correct design of load transmission to the bones through the soft tissues is one of the key aspects for successful performance. We have summarised the design specifications into three guidelines: a) Length restriction to avoid the low stiffness associated in the shear plane. b) Increase of contact pressure to increase contact stiffness. c) Increase of the number of contact points to keep the alignments between the orthosis and the body segment.
Tipo: 2 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/biomechanical_constraints_in_the_design_of_robotic_systems_for_tremor_suppression
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Cyberthosis: Rehabilitation Robotics With Controlled Electrical Muscle Stimulation InTech
Patrick Metrailler; Roland Brodard; Yves Stauffer; Reymond Clavel; Rolf Frischknecht.
Cyberthosis brings a new approach to physical and neurological re-education. The patient regains his role as a protagonist in the movement, even if his voluntary mobility is reduced to nothing. This principle allows better emulation of the natural voluntary movements and so doing, places the patient in an ideal situation for relearning his motor patterns. The first stage with MotionMaker has clearly shown the advantages of combining robotics and controlled electrostimulation to improve voluntary control. The activation of muscles in exercises of neurological re-education brings patients not only the recovery of muscle strength and joint mobility, but also the proprioceptive information essential for recovering the ability to activate by themselves their...
Tipo: 17 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/cyberthosis__rehabilitation_robotics_with_controlled_electrical_muscle_stimulation
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Design and Implementation of a Control Architecture for Rehabilitation Robotic Systems InTech
Duygun Erol; Nilanjan Sarkar.
In this work we present a new control approach to offer robotic assistance for stroke patients that include the coordination between a high-level controller and a low-level controller. The control architecture presented here is an example of a hybrid control system. There has been no work to our knowledge on designing similar type of control architecture for rehabilitation purposes. We have initially designed a movement tracking task where the participants not only make repetitive movement but also pay attention to the desired speed of motion from visual feedback. The task was designed in such a manner that it required cognitive processing. Including cognitive processing in the task design is an important criterion because it had been previously shown that...
Tipo: 7 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/design_and_implementation_of_a_control_architecture_for_rehabilitation_robotic_systems
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Designing Safety-Critical Rehabilitation Robots InTech
Stephen Roderick; Craig Carignan.
A methodology has been presented that can qualitatively and quantitatively evaluate a system design against a set of project safety criteria. This methodology allows system
Tipo: 4 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/designing_safety-critical_rehabilitation_robots
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Exoskeleton-Based Exercisers for the Disabilities of the Upper Arm and Hand InTech
Ioannis Sarakoglou; Sophia Kousidou; Nikolaos G. Tsagarakis; Darwin G. Caldwell.
In this chapter we have stated the need for power-assisted and robotic tools as means of providing intensive, cost-effective and objectively measured physiotherapy. We presented the state-of-the-art as well as early exoskeleton systems targeted at upper arm and hand disabilities. We also presented work that is undergoing at the University of Salford, UK, an upper arm and a hand exoskeleton that can be used as potential tools for delivering devicemediated rehabilitation. Clearly, device-mediated rehabilitation is an active area of research whose findings have great impact on our society's well-being. One could argue that the systems reviewed in the previous sections define or have already defined, in one way or another, future trends in rehabilitation...
Tipo: 27 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/exoskeleton-based_exercisers_for_the_disabilities_of_the_upper_arm_and_hand
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Facial Automaton for Conveying Emotions as a Social Rehabilitation Tool for People with Autism InTech
Giovanni Pioggia; Maria Luisa Sica; Marcello Ferro; Silvia Casalini; Roberta Igliozzi; Filippo Muratori; Arti Ahluwalia; Danilo De Rossi.
The aim of FACE-T is to act as a human-machine interface for non verbal communication. The learning process in FACE is based on imitating predefined stereotypical behaviours which can be represented in terms of FAPs followed by a continuous interaction with its environment. At present FACE is applied to enhance social and emotive abilities in children with autism. The experimental sessions allowed us to collect preliminary data in terms of therapeutic treatment for patients with disorders in the autistic spectrum. However, what is behind FACE? There is the application of the smart soft matter, algorithms and robotics, there is the attempt to understand the complexity of biological behaviour, there are people with autism. During a test, little M., following...
Tipo: 24 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/facial_automaton_for_conveying_emotions_as_a_social_rehabilitation_tool_for_people_with_autism
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Functional Rehabilitation: Coordination of Artificial and Natural Controllers InTech
Rodolphe Heliot; Christine Azevedo; Bernard Espiau.
In the framework of FES-assisted rehabilitation and reeducation, we addressed in this chapter the problem of the interaction between artificial and natural systems co-existing within patient's body. Our approach consisted in placing micro-sensors on subject's healthy limbs (trunk, intact leg...) in order to observe voluntary actions at two stages: detecting patient's intention, and monitoring an ongoing action. We also formalized a unified framework to merge these strategic and tactic levels. We illustrated the approach by implementing solutions for two practical examples: detection of sit-to-stand transfer and gait monitoring, and validated the developed algorithms with online experiments performed on valid subjects. Since the targeted application of...
Tipo: 10 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/functional_rehabilitation__coordination_of_artificial_and_natural_controllers
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Haptic Device System For Upper Limb Motor Impairment Patients: Developing And Handling In Healthy Subjects InTech
Tasuku Miyoshi; Yoshiyuki Takahashi; Hokyoo Lee; Takafumi Terada; Yuko Ito; Kaoru Inoue; Takashi Komeda.
Tipo: 18 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/haptic_device_system_for_upper_limb_motor_impairment_patients__developing_and_handling_in_healthy_su
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Lower-Limb Wearable Exoskeleton InTech
J.L. Pons; J.C. Moreno; F.J. Brunetti; E. Rocon.
The differences found in the patients' kinematic gait patterns during the application of functional compensation on the lower limb showed significant differences regarding the subjects' usual gait. In both patients rapid adaptations were observed and new motor commands were learnt necessary for managing the exoskeleton with the constraints imposed on the limb. The benefits of the correct release of the knee in both instances is clear evidence of approximating their gait patterns to the normality pattern depicted in Figure 27, with the compensations of the biomimetic actuation system by applying intermittent impedance (K1 and K2). The GAIT exoskeleton made it possible for patient S1 to walk for the first time without compensation with the hip movement,...
Tipo: 26 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/lower-limb_wearable_exoskeleton
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Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics InTech
Yasuhisa Hirata; Asami Muraki; and Kazuhiro Kosuge.
In this paper, we introduce the concept of the passive robotics and the passive-type intelligent walker referred to as RT Walker developed based on the passive robotics concept. For improving the maneuverability of the walker in an environment such as a home, an
Tipo: 11 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/passive-type_intelligent_walker_controlled_based_on_caster-like_dynamics
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PLEIA: A Reconfigurable Platform for Evaluation of HCI Acting InTech
Peralta H.; Monacelli E.; Riman C.; Baklouti M.; Ben Ouezdou F.; Mougharbel I.; Laffont I.; Bouteille J..
Today the methods used by the medical team and occupational therapist are often qualitative. PLEIA software can be employed as a tool to evaluate the pointing user's capabilities. We proposed the new indexes to improve the classical evaluations methods that use the common factors as distance, time, errors and trajectory. The index command load shows the energy that the user employs to act on his technical aid. This energy could be not to be in direct relation with the efficiency, when the user realizes a task. PLEIA's capacities can be expanded as rehabilitation platform, telerehabilitation and experimentation platform for HCI systems with different haptic devices. The experiments are based on the real evaluation cases. In two cases, we evaluated the...
Tipo: 23 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/pleia__a_reconfigurable_platform_for_evaluation_of_hci_acting
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Powered Human Gait Assistance InTech
Kevin W. Hollander; Thomas G. Sugar.
Adaptation of powered actuated devices to assist elderly or weak individuals implies special design requirements. These actuators must be powerful enough to perform the tasks required of them yet remain efficient, lightweight and safe to its wearer. A spring-based actuator can contribute to all of these things. Springs are inherently powerful and lightweight. For the examples actuators developed above, the springs have `power to weight' ratios of approximately 300,000 W/kg. Springs are an efficient form of energy storage. For unstressed spring steel, its efficiency is reported to be 99.9% (Carlson, 1980). Springs are by nature compliant and back drivable, thus providing a natural measure of safety. Additionally, the other mechanical actuator elements, like...
Tipo: 12 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/powered_human_gait_assistance
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Rehabilitation of the Paralyzed Lower Limbs Using Functional Electrical Stimulation: Robust Closed Loop Control InTech
Samer Mohammed; Philippe Poignet; Philippe Fraisse; David Guiraud.
The main challenge that we face when applying FES to the paralyzed lower limbs is to avoid hyperstimulation and to defer the muscular fatigue as much as possible. Few
Tipo: 19 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/rehabilitation_of_the_paralyzed_lower_limbs_using_functional_electrical_stimulation__robust_closed_l
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Risk Evaluation of Human-Care Robots InTech
Makoto Nokata; Koji Ikuta.
This chapter presented the study of a safety strategy for human-care robots. Case study of assessing several human-care robots was carried out according to ISO/TR 12100-1:1992 and ISO 14121:1999. The problems of assessing these robots were discussed, a safety strategy for human-care robots has been proposed. Determine limits of special factors, judgments by certification system, benefit of robots for user have been added to the strategy. I undertook a new study of safety in the coexistent space of human and machine in order to realize a human-care robot for the nursing of the aged or disabled. First, the human injury from robot and machine was investigated thoroughly, and I found that it was important to treat safety strategies in the light of mechanical...
Tipo: 20 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/risk_evaluation_of_human-care_robots
Registros recuperados: 33
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