A 3-DoF Robotic Platform for the Rehabilitation and Assessment of Reaction Time and Balance Skills of MS Patients
Ozyegin University（厄兹耶金大学）；Istanbul Medipol University（伊斯坦布尔梅迪波尔大学）；Research Institute for Health Sciences and Technologies (SABITA), Istanbul Medipol University（伊斯坦布尔梅迪波尔大学健康科学与技术研究所（SABITA））
The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body influence each other if there is a lack of performance in either of them.Any predictable or sudden perturbation may pave the way for the divergence of CoM from equilibrium and inhomogeneous pressure distribution of the body.Such a situation is often observed in the daily lives of MS patients due to their poor APAs and CPAs and induces their falls.The way of minimizing the risk of falls in neurological patients is by utilizing perturbation-based rehabilitation, as it is efficient in the recovery of the balance disorder. In light of the findings, we present the design, implementation, and experimental evaluation of a novel 3 DoF parallel manipulator to treat the balance disorder of MS.The robotic platform allows angular motion of the ankle based on its anthropomorphic freedom.Moreover, the end-effector endowed with upper and lower platforms is designed to evaluate both the pressure distribution of each foot and the CoM of the body, respectively.Data gathered from the platforms are utilized to both evaluate the performance of the patients and used in high-level control of the robotic platform to regulate the difficulty level of tasks. In the study, kinematic and dynamic analyses of the robot are derived and validated in the simulation environment.Low-level control of the first prototype is also successfully implemented via the PID controller.The capacity of each platform is evaluated with a set of experiments considering the assessment of pressure distribution and CoM of the foot-like objects on the end-effector.The experimental results indicate that such a system well-address the need for balance skill training and assessment through the APAs and CPAs.
D-Optimality-Guided Reinforcement Learning for Efficient Open-Loop Calibration of a 3-DOF Ankle Rehabilitation Robot
Affiliated Provincial Hospital, Shandong First Medical University（山东第一医科大学附属省立医院）；Faculty of Engineering, University of New South Wales（新南威尔士大学工程学院）；Faculty of Engineering and IT, University of Technology Sydney（悉尼大学技术与信息工程学院）
Tele-rehabilitation with online skill transfer and adaptation in $\mathbb{R}^3 \times \mathit{S}^3$
MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany（慕尼黑工业大学机器人与机器智能研究所）；Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）
A New 4-DOF Robot for Rehabilitation of Knee and Ankle-Foot Complex: Simulation and Experiment
University of Tehran（德黑兰大学）；Harvard Medical School（哈佛医学院）；Tehran University of Medical Sciences（德黑兰医科大学）；Yerevan State Medical University（埃里温国立医科大学）；University of Texas at Dallas（德克萨斯大学达拉斯分校）
DRBA: Dynamic Robotic Balance Assistant -- An assist-as-needed gait and balance rehabilitation robot for versatile training
School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航天工程学院）；Guangdong Zhongxin Intelligent Rehabilitation Research Institute（广东众心智能康复研究院）；Guangdong Jianxiang Hospital Group（广东健翔医院集团）
Soft Robotic Exogloves for Dexterous Mobility -- Towards Personalized Rehabilitation
Department of Mechanical Engineering, Stevens Institute of Technology（机械工程系，史蒂文斯理工学院）；Faculty of Mechanical Engineering, Stevens Institute of Technology（机械工程学院，史蒂文斯理工学院）
Unidirectional Human-Robot-Human Physical Interaction for Gait Training
The Biorobotics Institute, Scuola Superiore Sant’Anna（圣安娜高等学校生物机器人研究所）；Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna（圣安娜高等学校机器人与人工智能卓越系）；Shirley Ryan AbilityLab（雪莉·瑞安能力实验室）；Center for Robotics and Biosystems of Northwestern University（西北大学机器人与生物系统中心）；Department of Biomedical Engineering, Northwestern University（西北大学生物医学工程系）；Department of Physical Medicine and Rehabilitation, Northwestern University（西北大学物理医学与康复系）
