Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-24T03:18:35.887Z Has data issue: false hasContentIssue false
  • English
  • Français

Development of a four-channel haptic system for remote assessment of patients with impaired hands

Published online by Cambridge University Press:  13 September 2016

Omar Daud ,
Roberto Oboe ,
Fabio Oscari ,
Stefano Masiero  and
Giulio Rosati
Omar Daud*
Affiliation:
Center for the Development of Nanoscience and Nanotechnology, CEDENNA, Universidad de Santiago de Chile, Av. Libertador Bernardo O'Higgins 3363, Santiago, Chile
Roberto Oboe
Affiliation:
Department of Management and Engineering, University of Padova, Stradella San Nicola, 3, 36100, Vicenza, Italy
Fabio Oscari
Affiliation:
Department of Management and Engineering, University of Padova, Stradella San Nicola, 3, 36100, Vicenza, Italy
Stefano Masiero
Affiliation:
Department of Neurology, Padova Hospital, Padova, Italy
Giulio Rosati
Affiliation:
Department of Management and Engineering, University of Padova, Stradella San Nicola, 3, 36100, Vicenza, Italy
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Haptic devices have proven effective in stimulating proprioceptive sensing in post-stroke patients. In this work, pre-existing devices were used together in a remote environment for the teleassessment of impaired hands. A four-channel bilateral control system in the presence of large and variable time delay is proposed as a proof of concept. Time delay is managed with a novel communication disturbance observer (CDOB). The system also employed a scaling down compensation value (SDCV) for the CDOB. The proposed control system was tested successfully in bilateral haptic interaction, simulating a remote motor and functional evaluation of patients' hands, guaranteeing safe and stable interaction, even in the presence of large network delays.

Keywords

Rehabilitation roboticsForce feedbackNetworked control systemsSeries elastic actuator
Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 1975 - 1991
Copyright
Copyright © Cambridge University Press 2016 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Chiri, A., Cortese, M., de Almeida Riberio, P. R., Cempini, M., Vitiello, N., Soekadar, S. R. and Carrozza, M. C., “A Telerehabilitation System for Hand Functional Training,” In: Converging Clinical and Engineering Research on Neurorehabilitation, (Springer, 2013). pp. 1019–1023.CrossRefGoogle Scholar
2. Daud, O. A., Haptic Systems for Post-Stroke Rehabilitation: From Virtual Reality to Remote Rehabilitation Ph.D. Thesis (University of Trento, 2011).Google Scholar
3. Deakin, A., Hill, H. and Pomeroy, V. M., “Rough guide to the fugl-meyer assessment,” Physiotherapy 89 (12), 751–763 (2003).Google Scholar
4. Dovat, L., Lambercy, O., Gassert, R., Maeder, T., Milner, T., Leong, T. and Burdet, E., “Handcare: A cable-actuated rehabilitation system to train hand function after stroke,” IEEE Trans. Neural Syst. Rehabil. Eng. 16 (6), 582–591 (2008).Google Scholar
5. Durfee, W., Carey, J., Nuckley, D. and Deng, J., “Design and Implementation of a Home Stroke Telerehabilitation System,” Annual International Conference of the IEEE, Engineering in Medicine and Biology Society, EMBC2009, (2009) pp. 2422–2425. DOI 10.1109/IEMBS.2009.5334951.Google Scholar
6. Ghasemi, F., “Developing a telerehabilitation system for hand,” Int. J. Inf. Educ. Technol. 2 (1), 1–9 (2012).Google Scholar
7. Gupta, A., O'Malley, M. K., Patoglu, V. and Burgar, C., “Design, control and performance of ricewrist: A force feedback wrist exoskeleton for rehabilitation and training,” Int. J. Rob. Res. 27 (2), 233–251 (2008).Google Scholar
8. Iida, W. and Ohnishi, K., “Reproducibility and Operationality in Bilateral Teleoperation,” The 8th IEEE International Workshop on, Advanced Motion Control, AMC'04, (2004) pp. 217–222.Google Scholar
9. Katsura, S., Iida, W. and Ohnishi, K., “Medical mechatronics an application to haptic forceps,” Annu. Rev. Control 29 (2), 237–245 (2005).CrossRefGoogle Scholar
10. Krebs, H., Hogan, N., Aisen, M. and Volpe, B., “Robot-aided neurorehabilitation,” IEEE Trans. Rehabil. Eng. 6 (1), 75–87 (1998). DOI 10.1109/86.662623.CrossRefGoogle ScholarPubMed
11. Lawrence, D., “Stability and transparency in bilateral teleoperation,” IEEE Trans. Robot. Autom. 9 (5), 624–637 (1993).CrossRefGoogle Scholar
12. Loureiro, R. C. V. and Harwin, W. S., “Reach & Grasp Therapy Design and Control of a 9-dof Robotic,” Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics. Noordwijk, The Netherlands (Jun. 12–15, 2007), pp. 757–763.Google Scholar
13. Matsumoto, Y., Katsura, S. and Ohnishi, K., “An Analysis and Design of Bilateral Control Based on Disturbance Observer,” IEEE International Conference on Industrial Technology, vol. 2, (2003) pp. 802–807.Google Scholar
14. Murakami, T., Yu, F. and Ohnishi, K., “Torque sensorless control in multidegree-of-freedom manipulator,” IEEE Trans. Ind. Electron. 40 (2), 259–265 (1993). DOI 10.1109/41.222648.CrossRefGoogle Scholar
15. Natori, K., Oboe, R. and Ohnishi, K., “Stability analysis and practical design procedure of time delayed control systems with communication disturbance observer,” IEEE Trans. Ind. Inf. 4 (3), 185–197 (2008). DOI 10.1109/TII.2008.2002705.Google Scholar
16. Natori, K., Tsuji, T. and Ohnishi, K., “Time Delay Compensation by Communication Disturbance Observer in Bilateral Teleoperation Systems,” 9th IEEE International Workshop on, Advanced Motion Control, (2006) pp. 218–223.Google Scholar
17. Natori, K., Tsuji, T., Ohnishi, K., Hace, A. and Jezernik, K., “Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay,” IEEE Trans. Ind. Electron. 57 (3), 1050–1062 (2010). DOI 10.1109/TIE.2009.2028337.Google Scholar
18. Oboe, R., Daud, O. A., Masiero, S., Oscari, F. and Rosati, G., “Development of a haptic teleoperation system for remote motor and functional evaluation of hand in patients with neurological impairments,” Proceedings of the 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Japan (2010) pp. 518–523.Google Scholar
19. Ohnishi, K., Shibata, M. and Murakami, T., “Motion control for advanced mechatronics,” IEEE/ASME Trans. Mechatronics, 1 (1), 56–67 (1996). DOI 10.1109/3516.491410.Google Scholar
20. Oujamaa, L., Relave, I., Froger, J., Mottet, D. and Pelissier, J. Y., “Rehabilitation of arm function after stroke. Literature review,” Ann. Phys. Rehabil. Med. 52 (3), 269–293 (2009).Google Scholar
21. Outpatient Service Trialists. “Therapy-based rehabilitation services for stroke patients at home,” Physiotherapy 89 (3), 143 (2003).Google Scholar
22. Palmer, M. L. and Epler, M. E., Fundamentals of Musculoskeletal Assessment Techniques (Lippincott Williams and Wilkins, 1998).Google Scholar
23. Park, H. S., Ren, Y. and Zhang, L. Q., “A portable telerehabilitation system for remote evaluations of impaired elbows in neurological disorders,” IEEE Trans. Neural Syst. Rehabil. Eng. 16 (3), 245–254 (2008).Google Scholar
24. Park, S., Wu, Y. N., Ren, Y. and Zhang, L. Q., “A Tele-Assessment System for Evaluating Elbow Spasticity in Patients with Neurological Impairments,” Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics Noordwijk, The Netherlands (2007) pp. 917–922.Google Scholar
25. Pratt, G. A., Willisson, P., Bolton, C. and Hofman, A., “Late Motor Processing in Low-Impedance Robots: Impedance Control of Series Elastic Actuators,” Proceedings of American Control Conference. vol. 4, Boston, MA, USA (2004), pp. 3245–3251.Google Scholar
26. Rashedi, E., Mirbagheri, A., Taheri, B., Farahmand, F., Vossoughi, G. and Parnianpour, M., “Design and Development of a Hand Robotic Rehabilitation Device for Post Stroke Patients,” Annual International Conference on the IEEE, Engineering in Medicine and Biology Society. EMBC 2009, (2009) pp. 5026–5029.Google Scholar
27. Ren, Y., Park, H. S. and Zhang, L. Q., “Developing a Whole-Arm Exoskeleton Robot with Hand Opening and Closing Mechanism for Upper Limb Stroke Rehabilitation,” IEEE 11th International Conference on Rehabilitation Robotics. Kyoto International Conference Center, Japan (Jun. 23–26, 2009), pp. 761–765.CrossRefGoogle Scholar
28. Robinson, D., Pratt, J., Paluska, D. and Pratt, G., “Series Elastic Actuator Development for a Biomimetic Walking Robot,” Proceedings, of the IEEE/ASME International Conference on, Advanced Intelligent Mechatronics, (1999) pp. 561–568. DOI 10.1109/AIM.1999.803231.Google Scholar
29. Robinson, W., Design and Analysis of Series Elasticity in Closed-Loop Actuator Force Control (Department of Mechanical Engineering: Massachusetts Institute of Technology, 2000).Google Scholar
30. Robinson, W., Pratt, J. E., Paluska, D. J. and Pratt, G. A., “Series Elastic Actuator Development for a Biomimetic Walking Robot,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, Georgia, USA (1999) pp. 19–22.Google Scholar
31. Rosati, G., Cenci, S., Boschetti, G., Zanotto, D. and Masiero, S., “Design of a Single-Dof Active Hand Orthosis for Neurorehabilitation,” Proceedings of the IEEE 11th International Conference on Rehabilitation Robotics, ICORR2009, Kyoto, Japan (2009) pp. 161–166.Google Scholar
32. Rossi, A., Gallina, P., Rosati, G. and Zanotto, V., “Rate-to-Force Control in Admittance Mode Biliteral Teleoperation,” Proceeding of the 2004 Eleventh World Congress in Mechanism and Machine Science, Tianjin, China (2004) pp. 1373–1379.Google Scholar
33. Suzuki, A. and Ohnishi, K., “Performance Conditioning of Time Delayed Bilateral Teleoperation System by Scaling Down Compensation Value of Communication Disturbance Observer,” 11th IEEE International Workshop on Advanced Motion Control, (2010) pp. 524–529. DOI 10.1109/AMC.2010.5464075.Google Scholar
34. Takahashi, C. D., Der-Yeghiaian, L., Le, V., Motiwala, R. R. and Cramer, S. C., “Robot-based hand motor therapy after stroke,” Brain 131 (2), 425–437 (2008).Google Scholar
35. Williams, R., Henry, J. M. and Murphy, M. A., “Naturally-transitioning rate to force control in free and constrained motion,” Trans. ASME J. Dyn. Syst. Meas. Control 121 (3), 425–432 (1999).Google Scholar
36. Wyeth. “Demonstrating the Safety and Performance of a Velocity Sourced Series Elastic Actuator,” Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, Pasadena, CA, USA (2008) pp. 3642–3647.Google Scholar