There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury. This paper reviews control strategies for robotic therapy devices. Several categories of strategies have been proposed, including, assistive, challenge-based, haptic simulation, and coaching. The greatest amount of work has been done on developing assistive strategies, and thus the majority of this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. It is also now apparent there may be mechanisms by which some robotic control approaches might actually decrease the recovery possible with comparable, non-robotic forms of training. In future research, there is a need for head-to-head comparison of control algorithms in randomized, controlled clinical trials, and for improved models of human motor recovery to provide a more rational framework for designing robotic therapy control strategies.

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Review of control strategies for robotic movement training after neurologic injury

Safety analysis in process facilities: Comparison of fault tree and Bayesian network approaches

Devices, systems and methods of neurostimulation for treating obstructive sleep apnea. The system is adapted to send an electrical signal from an implanted neurostimulator through a stimulation lead to a patient's nerve at an appropriate phase of the respiratory cycle based on input from a respiration sensing lead. External components are adapted for wireless communication with the neurostimulator. The neurostimulator is adapted to deliver therapeutic stimulation based on inputs.

Obstructive sleep apnea treatment devices, systems and methods

The objective of this work is to determine and study, analyze and elaborate, classify and categorize the main risk analysis and risk-assessment methods and techniques by reviewing the scientific literature. The paper consists of two parts: a) the investigation, presentation and elaboration of the main risk-assessment methodologies and b) the statistical analysis, classification, and comparative study of the corresponding scientific papers published by six representative scientific journals of Elsevier B.V. covering the decade 2000–2009. The scientific literature reviewing showed that the risk analysis and assessment techniques are classified into three main categories: (a) the qualitative, (b) the quantitative, and (c) the hybrid techniques (qualitative–quantitative, semi-quantitative). The qualitative techniques are based both on analytical estimation processes, and on the safety managers–engineers ability. According to quantitative techniques, the risk can be considered as a quantity, which can be estimated and expressed by a mathematical relation, under the help of real accidents’ data recorded in a work site. The hybrid techniques, present a great complexity due to their ad hoc character that prevents a wide spreading. The statistical analysis shows that the quantitative methods present the highest relative frequency (65.63%) while the qualitative a lower one (27.68%). Furthermore the hybrid methods remain constantly at a very low level (6.70%) during the entire processing period.

http://risktr.com/dokumanlar/risk%20analysis%20and%20assessment%20methodologies%20in%20th%20work%20sites.pdf

Risk analysis and assessment methodologies in the work sites: On a review, classification and comparative study of the scientific literature of the period 2000–2009

Methods and models in process safety and risk management: Past, present and future

Condition-based fault tree analysis (CBFTA): A new method for improved fault tree analysis (FTA), reliability and safety calculations

Survivors of brain injury or stroke can improve movement ability with intensive, supervised practice. Since the hours of supervised therapy with a physical or occupational therapist are limited, telerehabilitation will enable patients to greatly expand the hours that they practice therapeutic exercises. The Jerusalem TeleRehabilitation System (JTRS) consists of patient and therapist systems plus a central server and database connected via the internet. The system can work in two modes: (1) a cooperative mode in which the therapist and patient are online at the same time, and (2) a stand-alone mode in which the patient uses the system on his own. In both cases, the system will monitor the status and progress of the patient and various parameters of his movement abilities, and prepare reports for the patient and for the therapist. From the clinic, the therapist will be able to change the screen seen by the patient and change the level and types of tasks, as needed. Compared to existing systems, our system will have the following advantages: (1) inexpensive and easy to use; (2) remote monitoring and control of the patient's computer by the therapist in the clinic; (3) more detailed analysis of patient status and progress; (4) a "smart" system which self-adapts to the patient's capabilities in real time, increasing or decreasing the difficulty of the exercise as needed; and (5) a central, international database which, by gathering data on many patients over time, will provide the basis for "smart" therapy and will also facilitate coordinated multicenter research studies.

The Jerusalem TeleRehabilitation System, a new low-cost, haptic rehabilitation approach.

Movement in the ipsilesional hand is segmented following unilateral brain damage.

We are developing a low-cost robotic system– the Jerusalem Telerehabilitation System – using a force feedback joystick and a standard broadband internet connection. In this study, the system was found to be user-friendly by therapists, older and younger normal subjects, and a post-stroke subject. Kinematic analysis of the joystick movements showed differences between the older and younger normal subjects and between the post-stroke subject and older normal subjects. These preliminary data indicate that our low-cost and straightforward system has the potential to provide useful kinematic information to the therapist in the clinic, thereby improving patient care.

Investigating the use of force feedback joysticks for low-cost, robot-mediated therapy

Rhinomanometry is a method for measuring nasal resistance for the purpose of providing an objective evaluation of nasal patency. Posterior rhinomanometry is accomplished without the use of a mask, thus allowing the patient to breathe naturally. Here, we report on the improvements we have made to the existing posterior rhinomanometry system. in this system, nasal air flow is measured indirectly by measuring the pressure differential across a small mesh window in the body plethysmograph. We have calibrated this measurement and developed software that automatically provides the correct values for all airflow rates. Also, we have developed software that automatically corrects for the phase shift caused by the plethysmograph structure. These refinements should provide more accurate values for nasal resistance.

Joseph Tiran

Papers

Condition-based fault tree analysis (CBFTA): A new method for improved fault tree analysis (FTA), reliability and safety calculations

The Jerusalem TeleRehabilitation System, a new low-cost, haptic rehabilitation approach.

Movement in the ipsilesional hand is segmented following unilateral brain damage.

Investigating the use of force feedback joysticks for low-cost, robot-mediated therapy

An Improved Device for Posterior Rhinomanometry to Measure Nasal Resistance