Advances in Rehabilitation Robotics: Human-friendly Technologies on Movement Assistance and Restoration for People with Disabilities (Lecture Notes in Control and Information Sciences (306))

One of the major application targets of service robots is to use them as assistive devices for rehabilitation. This book introduces some latest achievements in the field of rehabilitation robotics and assistive technology for people with disabilities and aged people. The book contains results from both theoretical and experimental works and reviews on some new advanced rehabilitation devices which has been recently transferred to the industry. Significant parts of the book are devoted to the assessment of new rehabilitation technologies, the evaluation of prototype devices with end-users, the safety of rehabilitation robots, and robot-assisted neuro-rehabilitation. The book is a representative selection of the latest trends in rehabilitation robotics andВ can be used as a reference for teaching on mechatronic devices for rehabilitation. Advances in Human-Friendly Robotic Technologies for Movement Assistance Restoration for People with Disabilities ......Page 27 1.2.1 Robotic Systems for Movement Assistance......Page 29 1.2.3 Robots for Physical Rehabilitation......Page 31 1.2.5 Emotional Interactive Entertainment Robots......Page 32 1.4 Rehabilitation Robots in the Smart House Design......Page 34 1.5 Functional Integration of the Robotic Environment......Page 36 1.6 Commercialization of RR......Page 37 1.7 Some Issues for Futuristic Intelligent Robotic House Model......Page 40 1.8 Concluding Remarks......Page 42 Rehabilitation Robotics from Past to Present ......Page 48 2.2 Earliest Work......Page 49 2.3 Assistive Robotics......Page 50 2.3.1 Fixed Site......Page 51 2.3.2 Mobile Robots......Page 54 2.3.3 Wheelchair Mounted Manipulators......Page 56 2.4 Mobility......Page 58 2.5 Prosthetics and Orthotics......Page 59 2.6 Robot Mediated Therapy......Page 60 2.7 Robotics in Special Needs Education......Page 61 2.8 Robotics in Communications......Page 62 2.10 Commercialisation......Page 63 2.11 Alternatives to Robotics in Rehabilitation......Page 64 2.12 Conclusions......Page 65 Towards Human Friendly User Interface to Control an Assistive Robot in the Context of Smart Homes ......Page 68 3.2 MANUS Assistive Robot......Page 69 3.3 Networking Technologies and Developments......Page 70 3.4 General Software Architecture......Page 71 3.6.1 Gesture Library......Page 72 3.6.2 Obstacles Avoidance......Page 73 3.7 Towards the Co-autonomy Concept......Page 74 3.8 Conclusion......Page 76 Welfare-Oriented Service Robotic Systems ......Page 78 4.2.1 Questionnaire Survey......Page 80 4.2.1.2 Questionnaire Survey on Intelligent Wheelchair System......Page 81 4.2.1.4 Questionnaire Survey on Home Appliance Control by Intelligent Man-Machine Interface......Page 82 4.2.2.1 Intelligent Bed Robot System [37]......Page 83 4.2.2.2 Intelligent Wheelchair System [41]......Page 85 4.2.2.3 Transferring System......Page 86 4.2.2.4 Home Network and Management System [62]......Page 87 4.2.3.1 Soft Remote Control System [5, 19, 58]......Page 88 4.2.3.2 Intention Reading in Bed [37]......Page 89 4.2.3.3 Health Monitoring System [4, 49]......Page 91 4.3 KARES II System......Page 93 4.3.1 Questionnaire Survey......Page 94 4.3.2.1 H/W Structure of KARES II System......Page 95 4.3.2.2 S/W Structure of KARES II System: I/O Relations and Control Architecture......Page 96 4.3.3.1 Active Compliance Control of the Robotic Arm [10, 11, 12]......Page 98 4.3.3.2 Visual Servoing [43, 63]......Page 99 4.3.4 Intelligent Human-Robot Interfaces......Page 100 4.3.4.1 Eye-Mouse [42, 68]......Page 101 4.3.4.2 Biosignal-Based Interface [26]......Page 102 4.3.5 User Trials......Page 103 4.3.5.1 Robotic Arm......Page 104 4.3.5.2 Visual Servoing......Page 105 4.3.5.3 Eye-Mouse......Page 106 4.3.5.4 Head&Shoulder Interface......Page 107 4.3.5.5 EMG Interface......Page 109 4.4 Concluding Remarks......Page 110 5.1.1 The FRIEND Project......Page 116 5.1.2 Hardware Structure of FRIEND......Page 117 5.1.3 Multi-layered Control Architecture of FRIEND......Page 118 5.2.1.1 Object Detection......Page 122 5.2.1.2 Object Approaching, Grasping, and Crossover......Page 123 5.2.1.3 Beverage Pouring......Page 126 5.2.1.4 Put an Object Down......Page 129 5.2.2 Obstacle Avoidance......Page 130 5.2.3 Task Planning......Page 132 5.2.3.1 Task Representation......Page 133 5.2.3.2 High-Level-Plan Generation......Page 135 5.2.3.3 Low-Level-Plan Generation and Execution......Page 137 5.2.4 Demonstration-Based Programming......Page 139 5.3 Summary......Page 145 6.1 Introduction......Page 148 6.2 Background......Page 149 6.2.1 Domotic-Robotic Integrated System......Page 150 6.2.2 Localized System of Appliances......Page 151 6.3 Design Concept for the Giving-A-Hand System......Page 153 6.5 The Fetch and Carry Robot Appliance Development......Page 154 6.6 User-Centered Development......Page 156 6.7 Prototype of a Local Network with the Robot Appliance......Page 159 6.8 Summary and Conclusions......Page 161 7.1 Introduction......Page 163 7.2 Cooperative Robot System......Page 164 7.3 Measurement of Distance Using Stereo Images......Page 165 7.4.1 Detection of the Hand Area Using Color Image......Page 166 7.4.3 Detection of the Object Using Gesture Instruction......Page 167 7.5 Recognition of the Hand Gesture......Page 168 7.6 Experimental Results......Page 170 7.7 Conclusions......Page 172 8.2 Meal-Assistance Device “My Spoon”......Page 174 8.4 Basic Operation......Page 175 8.4.1 Setup......Page 176 8.4.3 Position Adjustment Command Set......Page 177 8.5.2 Semi-automatic Mode......Page 178 8.5.3 Automatic Mode......Page 179 8.6.1.2 Color Sample Extraction and Threshold Calculation......Page 180 8.6.2.2 Improving the Usability of Manual Mode......Page 181 8.7 Conclusion......Page 182 9.1 Introduction......Page 183 9.2 Visual Servoing......Page 185 9.3 Control Architecture......Page 186 9.4.1 Theory......Page 187 9.4.2 Implementation......Page 188 9.6 Experiments......Page 189 9.7 Conclusions and Future Work......Page 192 10.2.1 Framework of New Safety Standards for Robots......Page 193 10.2.2 Safety Standard for Machinery......Page 194 10.2.3 Risk Assessment Process and Risk Reduction......Page 195 10.3 Case Study on Safety of Rehabilitation Robots......Page 196 10.3.1 Risk Estimation......Page 198 10.3.3 Benefit Estimation......Page 199 10.4 Proposal of Risk Assessment Guideline for Rehabilitation Robots......Page 200 10.5 Conclusion......Page 201 11.2.2 Classification of Safety Strategies......Page 202 11.3.2 Selection of Evaluation Measures......Page 204 11.4 General Evaluation Method Using Evaluation Measures......Page 205 11.5.1 Safety Design Strategy......Page 207 11.5.2 Safety Control Strategy......Page 208 11.6.1 Formulating the Design Optimization Method......Page 209 11.6.2 Maximizing Safety Under Fixed Cost......Page 210 11.6.3 A New Method of Calculate a Safe Approach Motion......Page 211 11.7 Conclusions......Page 212 12.2 Tolerable Risk and Surface Injury......Page 214 12.3 Force Limitation Methods......Page 216 12.4 A Straight Movement-Type Force Limitation Mechanism......Page 217 12.5 A Three-Dimensional Force Limitation Mechanism......Page 219 12.6 Reflex Mechanism......Page 221 12.7 Conclusions......Page 222 13.1 Introduction......Page 223 13.3 Hardware and Software Organization......Page 224 13.3.2 Software Command Architecture......Page 225 13.5 Preliminary Results......Page 227 13.5.1 Modes and Time of Use......Page 228 13.5.2 Actions Number......Page 229 13.6 Discussion......Page 230 13.7 Conclusion......Page 231 14.1 Introduction......Page 233 14.2 Wheelchair Mounted Service Manipulator ARM......Page 234 14.3.2 Indication Criteria......Page 235 14.3.3 Stand-Alone Test......Page 236 14.3.6 Training......Page 238 14.4 The Future Process of Prescribing the ARM......Page 239 14.5.1 User Study Conducted by iRV......Page 240 14.5.2 User Study Conducted by hetDorp......Page 241 15.1 Introduction......Page 243 15.2 Mechanical Structure......Page 244 15.3 Sensory System......Page 245 15.4.1 Slider Position Sensor......Page 246 15.4.2 Tendon Tensiometer......Page 248 15.4.3 Thumb Position Sensor......Page 249 15.4.4 Force Sensor......Page 250 15.5 Conclusions......Page 251 16.1 Introduction......Page 253 16.2 Design of WREX......Page 254 16.3 Gravity Balancing With ≠ 0 x......Page 255 16.5 Results......Page 258 17.1 Introduction and Related Works......Page 261 17.1.1 Methods for Navigation......Page 262 17.1.2 Path Planning and Navigation to the Goal......Page 265 17.2.2.1 Assumptions Regarding the House Environment:......Page 266 17.2.2.3 Four Modes of Wheelchair Operation:......Page 267 17.3 Localization of the Wheelchair Position......Page 268 17.4 Scenario of the Wheelchair Control......Page 270 17.5 Navigation System......Page 272 17.6 Computer Simulation of the Control Algorithm......Page 274 17.6.1 Wheelchair Kinematics......Page 275 17.6.2 Modeling of the Sensors and Their Arrangement on the Wheelchair Platform......Page 277 17.6.3.1 Map of the Indoor Environment......Page 280 17.6.3.2 Map Update......Page 281 17.6.3.3 Path Generation and Task Execution......Page 283 17.6.4 Graphic User Interface (GUI) of the Wheelchair Simulator......Page 289 17.7.1 Navigation to Multiple Goals......Page 291 17.7.2 Obstacle Avoidance......Page 292 17.7.3 Avoiding a “Trap”......Page 294 17.7.4 Navigation in a Complex Environment......Page 296 17.7.5 Route Generation in Partially Known Environment......Page 300 17.8 Future Plans and Concluding Remark......Page 301 18.1 Introduction......Page 307 18.2 Related Works......Page 308 18.3 Requirements......Page 309 18.4.1 Hardware Configuration......Page 310 18.4.2 Software Design for Real-Time System......Page 311 18.5.1 Localization......Page 312 18.5.2 Hierarchical Control Architecture......Page 314 18.6 Experiments......Page 315 18.7 Conclusion......Page 317 19.1 Introduction......Page 319 19.2 Electrically Assisted Walker......Page 320 19.3.1 Requirements for the Force Sensor......Page 321 19.3.2 Sensor Structure......Page 322 19.3.3 Sensing Method......Page 323 19.3.4 Advantages......Page 324 19.4 Experiments......Page 325 19.6 Summary......Page 327 20.1.1 The Functions of Do-u-mi Robot......Page 329 20.2 Overall System of Do-u-mi Robot......Page 331 20.3 Sound Localization......Page 332 20.4 Face Tracking......Page 333 20.4.1.3 Face Pattern-Matching......Page 334 20.5 Autonomous Navigation......Page 336 20.6 Conclusion......Page 337 21.1 Introduction......Page 339 21.2.1.1 Mobile Base......Page 340 21.2.1.2 Body Weight Support Mechanism......Page 341 21.2.2.1 Experimental Protocol......Page 342 21.2.2.2 Results......Page 343 21.3.1.1 Body Weight Support......Page 344 21.3.2 Control Method......Page 346 21.4 Conclusion......Page 348 A Gentle Approach to Robot Assisted Neuro-Rehabilitation ......Page 351 22.1 Background to Stroke......Page 352 22.2 Gentle/S......Page 353 22.2.1 Assumptions......Page 354 22.3 Clinical Prototype for Machine Mediated Neurorehabilitation......Page 355 22.3.1 Antigravity Mechanism for the Shoulder and Elbow......Page 357 22.3.2 Exercises & Movement Guidance......Page 358 22.4 Clinical Trials......Page 361 22.4.1 Outcome Measures......Page 362 22.4.2 Data Analysis and Statistical Methodology......Page 363 22.4.3 Results......Page 364 22.5 Conclusions......Page 365 23.1 Introduction......Page 368 23.1.1 Advantages of Wire Driven Robots......Page 369 23.2 Manipulability and Wire Tension Computation......Page 370 23.3 NeRebot: An Example of Wire Driven Robot for Rehabilitation......Page 372 23.3.1 Software and Control......Page 375 23.3.2 Treatment Protocol......Page 376 23.4 Conclusions and Future Research......Page 377 24.1 Introduction......Page 379 24.2 Specification for a New Wrist Device......Page 382 24.2.1 Kinematic Selection......Page 383 24.2.3 Actuator Selection......Page 384 24.3 Alpha-Prototype Overview 4......Page 385 24.4 Robotic Therapy......Page 388 24.5 Conclusions......Page 390 25.1 Introduction......Page 393 25.2 Analysis of Spastic Upper Limb Physiotherapy......Page 394 25.3.1 Mechanical Design......Page 396 25.3.3 Control Design......Page 401 25.3.4 User Interface and Programming......Page 403 25.3.5 Safety Measures and Devices......Page 404 25.4 Testing and Calibration......Page 405 25.5.1 Subjects of the Clinical Trial......Page 407 25.5.2 Assessment Results......Page 408 25.5.3 Analysis of Assessment Results......Page 410 25.6 Conclusions......Page 411 26.1 Introduction......Page 414 26.3 Robotic Mechanisms Design......Page 415 26.4 Human/Robot Interface......Page 420 26.5 Sensory Systems......Page 421 26.6 Control Algorithms......Page 423 26.7 Conclusion......Page 425 27.1 Introduction......Page 426 27.2 Emerging Demographics and Healthcare Trends......Page 427 27.3 Emerging Technologies Relevant to Robotics......Page 428 27.4 RoadBlocks and Enablers of Robotic Applications in Rehabilitation......Page 430 27.6 Conclusions......Page 431 Subject Index......Page 433

One of the major application targets of service robots is to use them as assistive devices for rehabilitation. This book introduces some latest achievements in the field of rehabilitation robotics and assistive technology for people with disabilities and aged people. The book contains results from both theoretical and experimental works and reviews on some new advanced rehabilitation devices which has been recently transferred to the industry. Significant parts of the book are devoted to the assessment of new rehabilitation technologies, the evaluation of prototype devices with end-users, the safety of rehabilitation robots, and robot-assisted neurorehabilitation. The book is a representative selection of the latest trends in rehabilitation robotics and can be used as a reference for teaching on mechatronic devices for rehabilitation.