Data Acquisition and Control Architecture for Intelligent Robotic Exoskeletons in Rehabilitation
01 Nov 2019-
TL;DR: An architecture proposal for the development of intelligent robotic exoskeletons to support upper limb rehabilitation, especially in clinical conditions such as hemiparesis, as well as to address the problems described above.
Abstract: Neuromotor function rehabilitation is a process that implies a considerable recovery period, which can be slow, costly, and ineffective. This paper presents an architecture proposal for the development of intelligent robotic exoskeletons to support upper limb rehabilitation, especially in clinical conditions such as hemiparesis, as well as to address the problems described above. A review of the literature is presented, exploring the intelligent systems of control and signal processing in medical robotics, biosignal acquisition and the integration of technologies into this type of exoskeleton. The niches of scientific research are highlighted which allow for the planning of this architecture, such as the design of control strategies focused on the patient’s clinical condition, the proper data acquisition and the establishment of methodologies that lead to the adoption of technology in the health area. It is emphasized that this proposal focuses on the use of new engineering methods and tools, where mechanical, electronic and computational systems are involved, providing advantages in areas such as medicine, health sciences and physiotherapy. Also, this proposal has a high social impact, since it allows the development of tools that help in the rehabilitation processes carried out in developing countries such as Colombia.
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TL;DR: In this paper, a literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI.
Abstract: Processing and control systems based on artificial intelligence (AI) have progressively improved mobile robotic exoskeletons used in upper-limb motor rehabilitation. This systematic review presents the advances and trends of those technologies. A literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI. The period under investigation spanned from 2016 to 2020, resulting in 30 articles that met the criteria. The literature showed the use of artificial neural networks (40%), adaptive algorithms (20%), and other mixed AI techniques (40%). Additionally, it was found that in only 16% of the articles, developments focused on neuromotor rehabilitation. The main trend in the research is the development of wearable robotic exoskeletons (53%) and the fusion of data collected from multiple sensors that enrich the training of intelligent algorithms. There is a latent need to develop more reliable systems through clinical validation and improvement of technical characteristics, such as weight/dimensions of devices, in order to have positive impacts on the rehabilitation process and improve the interactions among patients, teams of health professionals, and technology.
30 citations
TL;DR: In this article, a wearable robotic exoskeleton prototype with autonomous Artificial Intelligence-based control, processing, and safety algorithms is presented, which allows flexion-extension at the elbow joint, where the chosen materials render it compact.
Abstract: Neuromotor rehabilitation and recovery of upper limb functions are essential to improve the life quality of patients who have suffered injuries or have pathological sequels, where it is desirable to enhance the development of activities of daily living (ADLs). Modern approaches such as robotic-assisted rehabilitation provide decisive factors for effective motor recovery, such as objective assessment of the progress of the patient and the potential for the implementation of personalized training plans. This paper focuses on the design, development, and preliminary testing of a wearable robotic exoskeleton prototype with autonomous Artificial Intelligence-based control, processing, and safety algorithms that are fully embedded in the device. The proposed exoskeleton is a 1-DoF system that allows flexion-extension at the elbow joint, where the chosen materials render it compact. Different operation modes are supported by a hierarchical control strategy, allowing operation in autonomous mode, remote control mode, or in a leader-follower mode. Laboratory tests validate the proper operation of the integrated technologies, highlighting a low latency and reasonable accuracy. The experimental result shows that the device can be suitable for use in providing support for diagnostic and rehabilitation processes of neuromotor functions, although optimizations and rigorous clinical validation are required beforehand.
10 citations
TL;DR: In this article, the integration and testing of a high-torque, servo-driven joint and its electronic controller is presented, exposing its use in a robotic exoskeleton prototype as a case study.
Abstract: Mechatronic systems that allow motorized activation in robotic exoskeletons have evolved according to their specific applications and the characteristics of the actuation system, including parameters such as size, mechanical properties, efficiency, and power draw. Additionally, different control strategies and methods could be implemented in various electronic devices to improve the performance and usability of these devices, which is desirable in any application. This paper proposes the integration and testing of a high-torque, servo-driven joint and its electronic controller, exposing its use in a robotic exoskeleton prototype as a case study. Following a brief background review, the development and implementation of the proposal are presented, allowing the control of the servo-driven joint in terms of torque, rotational velocity, and position through a straightforward, closed-loop control architecture. Additionally, the stability and performance of the servo-driven joint were assessed with and without load. In conclusion and based on the obtained results, the servo-driven joint and its control system demonstrate consistent performance under the proposed test protocol (max values: angular velocity 97 °/s, torque 33 Nm, positioning RMSE 1.46°), enabling this approach for use in various applications related to robotic exoskeletons, including human performance enhancement, rehabilitation, or support for daily living activities.
1 citations
References
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TL;DR: The World report identifies rehabilitation research gaps and challenges the rehabilitation community to situate its work within the human rights agenda, along the lines of Article 26 of the Convention on the Rights of Persons with Disabilities.
Abstract: On 9 June 2011, the World Health Organization, together with the World Bank, launched the firstever World report on disability at the United Nations in New York. Over 370 experts have contributed to the document, which reviews the global literature on disability, need and unmet need, barriers, and ways of addressing barriers. Each of the chapters on data, health, rehabilitation, assistance and support, environments, education and employment makes recommendations, and the whole report concludes with cross cutting recommendations to promote quality of life and participation of persons with disabilities. It is hoped that the World report will support implementation of the UN Convention on the Rights of Persons with Disabilities (2008). This report will be an important resource for the rehabilitation community, particularly in low and middle-income countries. Examples of good practice are explored as diverse as clubfoot treatment in Uganda, housing adaptations in United Kingdom, prosthetics and orthotics training in El Salvador, the reform of mental heath law in Italy and strengthening rehabilitation services for earthquake victims in Gujarat, India. Gaps in rehabilitation policy and provision are highlighted including the problems with funding mechanisms and the paucity of rehabilitation personnel notably in Africa. The recommendations on rehabilitation include prioritizing early intervention, improving access to assistive devices, improving coordination between levels and across sectors and promoting community-based rehabilitation. Most importantly, the World report identifies rehabilitation research gaps: for example, on the link between rehabilitation needs, receipt of services, health outcomes, and costs. Research is needed on the long term outcomes of rehabilitation, and on the effect on families and communities, in order to help justify increased expenditure on rehabilitation services. Access to research findings, in the form of evidence-based guidelines on cost-effective rehabilitation measures is also required, particularly in low and middle income countries. Overall, the World report on disability is a tremendous opportunity to raise the profile of disability and rehabilitation across the world, and to encourage governments to devote sufficient resources to improve functioning and promote participation of persons with disabilities. The report challenges the rehabilitation community to situate our work within the human rights agenda, along the lines of Article 26 of the Convention on the Rights of Persons with Disabilities. For example, the voices of persons with disabilities must be heard loud and clear, both in rehabilitation research, and in efforts to improve delivery of rehabilitation services. But the report also challenges the disability rights community, to understand that people with disabilities need access to good quality rehabilitation, if they are to enjoy their other rights such as access to education and decent work. Too often, rehabilitation is a neglected field, whereas this report makes clear, for many of the world’s billion children and adults with disabilities it is an essential route to participation and independence.
1,855 citations
TL;DR: Although stroke incidence, prevalence, mortality, and disability-adjusted life-years rates tend to decline from 1990 to 2013, the overall stroke burden has increased across the globe and provides a strong argument that "business as usual" for primary stroke prevention is not sufficiently effective.
Abstract: On the basis of the GBD (Global Burden of Disease) 2013 Study, this article provides an overview of the global, regional, and country-specific burden of stroke by sex and age groups, including trends in stroke burden from 1990 to 2013, and outlines recommended measures to reduce stroke burden. It shows that although stroke incidence, prevalence, mortality, and disability-adjusted life-years rates tend to decline from 1990 to 2013, the overall stroke burden in terms of absolute number of people affected by, or who remained disabled from, stroke has increased across the globe in both men and women of all ages. This provides a strong argument that "business as usual" for primary stroke prevention is not sufficiently effective. Although prevention of stroke is a complex medical and political issue, there is strong evidence that substantial prevention of stroke is feasible in practice. The need to scale-up the primary prevention actions is urgent.
1,606 citations
"Data Acquisition and Control Archit..." refers background in this paper
...Their various manifestations and consequences (hemiparesis, hemiplegia, traumatic brain injury and cerebral palsy) are some of the main causes of clinical disability in the medium and long term, both in upper and lower limbs [3], [4]....
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TL;DR: In high‐income countries mainly, improvements in prevention, acute treatment, and neurorehabilitation have led to a substantial decrease in the burden of stroke over the past 30 years.
Abstract: Stroke is the second leading cause of death and a major cause of disability worldwide. Its incidence is increasing because the population ages. In addition, more young people are affected by stroke in low- and middle-income countries. Ischemic stroke is more frequent but hemorrhagic stroke is responsible for more deaths and disability-adjusted life-years lost. Incidence and mortality of stroke differ between countries, geographical regions, and ethnic groups. In high-income countries mainly, improvements in prevention, acute treatment, and neurorehabilitation have led to a substantial decrease in the burden of stroke over the past 30 years. This article reviews the epidemiological and clinical data concerning stroke incidence and burden around the globe.
972 citations
843 citations
"Data Acquisition and Control Archit..." refers background in this paper
...With the appearance of the first document that reflects the current global status of people with disabilities, the World Report on Disability [1], there is a detailed and realistic vision that raises concern....
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...I. INTRODUCTION With the appearance of the first document that reflects the current global status of people with disabilities, the World Report on Disability [1], there is a detailed and realistic vision that raises concern....
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TL;DR: Stroke is not the most common cause of disability among the noninstitutionalized United Kingdom population, however, stroke is associated with the highest odds of reporting severe disability.
Abstract: BACKGROUND: It is widely stated that stroke is the most common cause of severe disability. We aimed to examine whether this claim is supported by any evidence. METHODS: We conducted secondary analysis of the Office of National Statistics 1996 Survey of Disability, United Kingdom. This was a multistage stratified random sample of 8683 noninstitutionalized individuals aged between 16 and 101 years, mean 62 years, response rate 83% (n = 8816). The outcome used was the Office of Population Censuses and Surveys severity scale for disability. Odds ratios and population-attributable fractions were calculated to examine the associations between diagnoses and disability. RESULTS: Logistic regression modelling suggests that, after adjustment for comorbidity and age, those with stroke had the highest odds of reporting severe overall disability (odds ratio 4.88, 95% confidence interval [CI] 3.37-6.10). Stroke was also associated with more individual domains of disability than any of the other conditions considered. Adjusted population-attributable fractions were also calculated and indicated that musculoskeletal disorders had the highest population-attributable fraction (30.3%, 95% CI 26.2-34.1) followed by mental disorders (8.2%, 95% CI 6.9-9.5) and stroke (4.5%, 95% CI 3.6-5.3). CONCLUSION: Stroke is not the most common cause of disability among the noninstitutionalized United Kingdom population. However, stroke is associated with the highest odds of reporting severe disability. Importantly, stroke is associated with more individual domains of disability compared with other conditions and might be considered to be the most common cause of complex disability.
519 citations
"Data Acquisition and Control Archit..." refers background in this paper
...Their various manifestations and consequences (hemiparesis, hemiplegia, traumatic brain injury and cerebral palsy) are some of the main causes of clinical disability in the medium and long term, both in upper and lower limbs [3], [4]....
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