AIMC Topic: Torque
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Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance.
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
Gait training robots are useful for changing gait patterns and decreasing risk of trip. Previous research has reported that decreasing duration of the assistance or guidance of the robot is beneficial for efficient gait training. Although robotic int...
Design and experimental evaluation of a lightweight, high-torque and compliant actuator for an active ankle foot orthosis.
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
The human ankle joint plays a crucial role during walking. At the push-off phase the ankle plantarflexors generate the highest torque among the lower limb joints during this activity. The potential of the ankle plantarflexors is affected by numerous ...
Toward goal-oriented robotic gait training: The effect of gait speed and stride length on lower extremity joint torques.
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
Robot-assisted gait training is becoming increasingly common to support recovery of walking function after neurological injury. How to formulate controllers capable of promoting desired features in gait, i.e. goals, is complicated by the limited unde...
Position and torque control via rehabilitation robot and functional electrical stimulation.
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
Two common rehabilitation therapies for individuals possessing neurological conditions are functional electrical stimulation (FES) and robotic assistance. This paper focuses on combining the two rehabilitation strategies for use on the biceps brachii...
Use of Robotic Manipulators to Study Diarthrodial Joint Function.
Journal of biomechanical engineering
Feb 1, 2017
Diarthrodial joint function is mediated by a complex interaction between bones, ligaments, capsules, articular cartilage, and muscles. To gain a better understanding of injury mechanisms and to improve surgical procedures, an improved understanding o...
Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.
Yonsei medical journal
Jan 1, 2017
PURPOSE: Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy.
Robotic-assisted locomotor training enhances ankle performance in adults with incomplete spinal cord injury.
Journal of rehabilitation medicine
Oct 12, 2016
OBJECTIVE: Ankle joint control plays an important role in independent walking. This study investigated the effects of robotic-assisted locomotor training on impaired ankle joint control in individuals with chronic incomplete spinal cord injury.
Relationship between magnitude of applied torque in pre-swing phase and gait change for prevention of trip in elderly people.
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Aug 1, 2016
Elderly people are at risk of tripping because of their narrow range of articular motion. To avoid tripping, gait training that improves their range of articular motion would be beneficial. In this study we propose a gait-training robot that applies ...
Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery.
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Aug 1, 2016
In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientati...
Metabolic cost of level-ground walking with a robotic transtibial prosthesis combining push-off power and nonlinear damping behaviors: preliminary results.
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Aug 1, 2016
Recent advances in robotic technology are facilitating the development of robotic prostheses. Our previous studies proposed a lightweight robotic transtibial prosthesis with a damping control strategy. To improve the performance of power assistance, ...
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