Conferences
Human-Robot Sensor Interface for Cardiac Rehabilitation
Conference
The 2017 IEEE 15th International Conference on Rehabilitation Robotics (ICORR) ,17-20 July 2017, London, England
Authors
Juan S. Lara , Jonathan Casas, Andres Aguirre, Marcela Múnera, Monica Rincon-Roncancio, Bahar Irfan, Emmanuel Senft, Tony Belpaeme and Carlos A. Cifuentes.
Abstract
Cardiovascular disease is the leading cause of death in the world. A program of cardiac rehabilitation (CR) is related to physical activities or exercises to regain the optimal quality of life. CR relies on the necessity to evaluate, control and supervise a patient’s status and progress. This work has two objectives: on the one hand, provide a tool for clinicians to assess the patient’s status during CR. On the other hand, there is evidence that robots can motivate patients during therapeutic procedures. Our sensor interface explores the possibility to integrate a robotic agent into cardiac therapy. This work presents an exploratory experiment for on-line assessment of typical CR routines.
Lokomat therapy in Colombia: Current State and Cognitive Aspects
Conference
The 2017 IEEE 15th International Conference on Rehabilitation Robotics (ICORR), 17-20 July 2017, London, England
Authors
Alexandra Marroquín , Laura Jimenez , Juan S. Lara , Marcela Múnera , Catalina Gomez , Sandra Rodriguez and Carlos A. Cifuentes.
Abstract
In this study, a review of studies of rehabilitation therapies with Lokomat was made taking into account 4 criteria according to the purpose of these research. Also, an evaluation of the perception and cognitive aspects which was obtained from patient’s opinion and medical staff is shown with some intervetions by therapist in the session that were identified through observations in different rehabilitation therapies in the only two centers in Colombia wich have this robotic device. Also, a new interface is proposed that integrates the social robotics and the robotic devices for the gait’s rehabilitation
BIOMECHANICAL COMPARISON OF PATIENTS WITH CP WITH DIFFERENT LEVELS OF GAIT ASSISTANCE USING CPWALKER
Conference
The 20th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR), September 11–13, 2017, Porto, Portugal.
Authors
Carlos A. Cifuentes, Luis F. Aycardi, Marcela Múnera, Cristina Bayón, Oscar Ramirez, Eduardo Rocon, Anzelmo Frizera and Sergio Lerma.
Abstract
Cerebral Palsy (CP) is the most common cause of permanent serious physical disability in childhood. CPWalker is a robotic platform through which the child can start experiencing autonomous locomotion in a rehabilitation environment. The main objective of this work is to biomechanically compare difference conditions of gait assistance in Children with CP using CPWalker. The results showed some differences among three patients with different conditions in terms of gait parameters, pelvic angles and propulsion. The observed changes during the therapy show the potential of this rehabilitation device.
Conference
Converging Clinical and Engineering Research on Neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain
Authors
Diego Casas, Marcela Gonzalez Rubio, Miguel Montoya, Wilson Sierra, Luis Rodriguez, Eduardo Rocon and Carlos A. Cifuentes.
Abstract
Exoskeletons are becoming one of the most promising devices to improve quality of life to injured patients to regain ability to walk. Bioinspired designs in exoskeletons could increase adaptability as well as minimal interference to perform gait movements. An important issue regarding the design of this devices is the hip joint. This work presents a design of a bioinspired hip exoskeleton for enhanced physical interaction, which is based on the motion analysis model, taking into account bioinspired design criterion, and also concepts of wearable robots. As future work, both, the 3D prototyping of this device to evaluate the gait performance, and the actuators selection are considered.
Conference
Converging Clinical and Engineering Research on Neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain
Authors
Carlos A. Cifuentes, Cristina Bayón, Sergio Lerma, Anselmo Frizera, Luis Rodriguez and Eduardo Rocon.
Abstract
Cerebral Palsy (CP) is the most common cause of permanent serious physical disability in childhood. New strategies are needed to help promote, maintain, and rehabilitate the functional capacity of children with severe level of impairment. The main objective of this work is to present a Human-Robot interaction strategy for overground rehabilitation to support novel robotic-based therapies for CP rehabilitation. This strategy is implemented in a new Wearable Robotic Walker named CPWalker. In our approach, legs’ kinematics information obtained from a Laser Range Finder (LRF) sensor is used to detect the user’s locomotion intentions and drive the robotic platform. During a preliminary validation we observed that this approach enabled the robot to continuously follow the human velocity and provided body weight support during gait.
Conference
IEEE Colombian Conference on Robotics and Automation (CCRA) (2016)
Authors
Alberto I. Pérez Sanpablo, Juan M. Ibarra Zannatha, Carlos A. Cifuentes García, Luis E. Rodríguez Cheu.
Abstract
Musculoskeletal Models are useful for designing rehabilitation technology (RT). MSMS software has unique features which let simulate RT along with different controllers. Unfortunately there are technical differences across platforms which yield to different results. Therefore benchmarking of simulations has been proposed. Here we present the implementation of a Shoulder and Elbow musculosketal (SE) model based on the MoBL ARMS model. SE model consists of 5 rigid segments linked with 5 degrees of freedom driven by 12 muscles. Muscle fascicle length (FL) and active fiber force (AFF) were calculated during simulation of 2 single joint shoulder and elbow movements. RMS errors were calculated between results. Differences between models were smallest for muscle FL (RMSE≤0.0037) and AFF (RMSE≤22.0155). RMS errors were biggest for FL of deltoid posterior muscle (RMSE=0.1165) and for AFF of supraspinatus muscle (RMSE=164.97) during shoulder abduction. But both models showed similar outputs.
Conference
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Authors
Carlos A. Cifuentes, Cristina Bayón, Sergio Lerma, Anselmo Frizera and Eduardo Rocon .
Abstract
Cerebral Palsy (CP) is the most common cause of permanent serious physical disability in childhood. New strategies are needed to help promote, maintain, and rehabilitate the functional capacity of children with severe level of impairment. Overground walking rehabilitation devices appear as an alternative treatment for improving gait performance as well as training natural gait patterns among this population. The main objective of this work is to present a Human-Robot interaction strategy for overground rehabilitation to support novel robotic-based therapies for CP rehabilitation. This strategy is implemented in a new robotic platform named CPWalker. In our approach, legs' kinematics information obtained from a Laser Range Finder (LRF) sensor is used to detect the user's locomotion intentions and drive the robotic platform. The controller continuously adjust robot's velocity to human velocity achieving an adequate robot motion that assists the locomotion at each step. During a preliminary validation we observed that our strategy is able to fast adapt to patients and provide them a stable gait pattern at different speeds. As a result, the proposed controller is able to provide a natural interface between the robotic-platform and the patient.
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