Analysis of Gait Kinematics in Smart Walker-Assisted Locomotion in Immersive Virtual Reality Scenario.

The decline in neuromusculoskeletal capabilities of older adults can affect motor control, independence, and locomotion. Because the elderly population is increasing worldwide, assisting independent mobility and improving rehabilitation therapies has become a priority. The combination of rehabilitation robotic devices and virtual reality (VR) tools can be used in gait training to improve clinical outcomes, motivation, and treatment adherence. Nevertheless, VR tools may be associated with cybersickness and changes in gait kinematics. This paper analyzes the gait parameters of fourteen elderly participants across three experimental tasks: free walking (FW), smart walker-assisted gait (AW), and smart walker-assisted gait combined with VR assistance (VRAW). The kinematic parameters of both lower limbs were captured by a 3D wearable motion capture system. This research aims at assessing the kinematic adaptations when using a smart walker and how the integration between this robotic device and the VR tool can influence such adaptations. Additionally, cybersickness symptoms were investigated using a questionnaire for virtual rehabilitation systems after the VRAW task. The experimental data indicate significant differences between FW and both AW and VRAW. Specifically, there was an overall reduction in sagittal motion of 16%, 25%, and 38% in the hip, knee, and ankle, respectively, for both AW and VRAW compared to FW. However, no significant differences between the AW and VRAW kinematic parameters and no adverse symptoms related to VR were identified. These results indicate that VR technology can be used in walker-assisted gait rehabilitation without compromising kinematic performance and presenting potential benefits related to motivation and treatment adherence.

Effects of a passive upper-body exoskeleton on whole-body kinematics, leg muscle activity, and discomfort during a carrying task.

OBJECTIVE: To compare whole-body kinematics, leg muscle activity, and discomfort while performing a 10-min carrying task with and without a passive upper-body exoskeleton (CarrySuitⓇ), for both males and females. BACKGROUND: Diverse commercial passive exoskeletons have appeared on the market claiming to assist lifting or carrying task. However, evidence of their impact on kinematics, muscle activity, and discomfort while performing these tasks are necessary to determine their benefits and/or limitations. METHOD: Sixteen females and fourteen males carried a 15kg load with and without a passive exoskeleton during 10-min over a round trip route, in two non-consecutive days. Whole-body kinematics and leg muscle activity were evaluated for each condition. In addition, leg discomfort ratings were quantified before and immediately after the task. RESULTS: The gastrocnemius and vastus lateralis muscle activity remained constant over the task with the exoskeleton. Without the exoskeleton a small decrease of gastrocnemius median activation was observed regardless of sex, and a small increase in static vastus lateralis activation was observed only for females. Several differences in sagittal, frontal, and transverse movements' ranges of motion were found between conditions and over the task. With the exoskeleton, ROM in the sagittal plane increased over time for the right ankle and pelvis for both sexes, and knees for males only. Thorax ROMs in the three planes were higher for females only when using the exoskeleton. Leg discomfort was lower with the exoskeleton than without. CONCLUSION: The results revealed a positive impact on range of motion, leg muscle activity, and discomfort of the tested exoskeleton.

Exploring Human-Exoskeleton Interaction Dynamics: An In-Depth Analysis of Knee Flexion-Extension Performance across Varied Robot Assistance-Resistance Configurations.

Knee rehabilitation therapy after trauma or neuromotor diseases is fundamental to restore the joint functions as best as possible, exoskeleton robots being an important resource in this context, since they optimize therapy by applying tailored forces to assist or resist movements, contributing to improved patient outcomes and treatment efficiency. One of the points that must be taken into account when using robots in rehabilitation is their interaction with the patient, which must be safe for both and guarantee the effectiveness of the treatment. Therefore, the objective of this study was to assess the interaction between humans and an exoskeleton during the execution of knee flexion-extension movements under various configurations of robot assistance and resistance. The evaluation encompassed considerations of myoelectric activity, muscle recruitment, robot torque, and performed movement. To achieve this, an experimental protocol was implemented, involving an individual wearing the exoskeleton and executing knee flexion-extension motions while seated, with the robot configured in five distinct modes: passive (P), assistance on flexion (FA), assistance on extension (EA), assistance on flexion and extension (CA), and resistance on flexion and extension (CR). Results revealed distinctive patterns of movement and muscle recruitment for each mode, highlighting the complex interplay between human and robot; for example, the largest RMS tracking errors were for the EA mode (13.72 degrees) while the smallest for the CR mode (4.47 degrees), a non-obvious result; in addition, myoelectric activity was demonstrated to be greater for the completely assisted mode than without the robot (the maximum activation levels for the vastus medialis and vastus lateralis muscles were more than double those when the user had assistance from the robot). Tracking errors, muscle activations, and torque values varied across modes, emphasizing the need for careful consideration in configuring exoskeleton assistance and resistance to ensure effective and safe rehabilitation. Understanding these human-robot interactions is essential for developing precise rehabilitation programs, optimizing treatment effectiveness, and enhancing patient safety.

Exoesqueletos para la recuperación funcional de la marcha en pacientes con patologías del sistema nervioso central como la esclerosis múltiple, ictus y/o lesiones medulares post-traumatismo / Exoskeletons for the functional recovery of walking ability in patients with central nervous system disorders such as multiple sclerosis, stroke, and traumatic spinal injury

INTRODUCCIÓN: La rehabilitación robótica de la marcha, conocida como Robot-Assisted Gait Therapy, ha surgido como una alternativa innovadora a la rehabilitación convencional de la marcha. Esta terapia ofrece un enfoque de rehabilitación controlada, repetitiva e intensiva, permitiendo una evaluación objetiva del progreso de los pacientes. La rehabilitación de la marcha es especialmente relevante en pacientes con trastornos del sistema nervioso central, como la esclerosis múltiple, ictus o lesión medular. Estas condiciones pueden provocar una pérdida significativa de la capacidad motora y afectar la calidad de vida de los pacientes. Los exoesqueletos pueden ser utilizados en la rehabilitación de estos pacientes, buscando mejorar los patrones de marcha y mitigar los síntomas asociados. En resumen, la rehabilitación robótica de la marcha mediante exoesqueletos para las extremidades inferiores ofrece una opción terapéutica innovadora para mejorar la funcionalidad y la independencia en la marcha de los pacientes con trastornos del sistema nervioso central. Este informe busca proporcionar una evaluación completa de estos dispositivos en la rehabilitación de la marcha, centrándose en pacientes con esclerosis múltiple, ictus y lesión medular. OBJETIVOS: 1) Identificar, sintetizar, analizar y evaluar la evidencia científica disponible sobre la efectividad y seguridad de los exoesqueletos para la recuperación

INTRODUCTION: Robot-assisted gait training has emerged as an innovative alternative to conventional gait rehabilitation. The focus of this type of training is highly-controlled intensive repetitive rehabilitation, enabling objective evaluation of patient progress. Gait rehabilitation is key in patients with central nervous system damage such as that associated with multiple sclerosis, stroke, and spinal injury. These conditions can cause significant loss of motor function, and hence, impair patient quality of life. Exoskeletons may be used in the rehabilitation of these patients, seeking to improve gait patterns and ameliorate associated symptoms. In brief, robot-assisted gait rehabilitation using lower-extremity exoskeletons is an innovative treatment option for improving gait function and independence in patients with central nervous system damage. This report aims to provide a complete assessment of these gait rehabilitation devices, with a focus on patients with multiple sclerosis, stroke, or spinal injury. AIMS: 1) To identify, synthetise, analyse and evaluate the scientific evidence available concerning the efficacy/effectiveness and safety of exoskeletons for functional gait recovery in adult patients with central nervous system damage associated with multiple scl

The Role of an Exoskeleton Simulation of Senescence in Health Sciences Education.

Background: Education in the formation of human capital in health constantly presents challenges. New tools in the emerging contexts may strengthen empathic attitudes. We developed an educational intervention that included a senescence simulator and assessed its impact on perception and attitudes in healthcare students. Methods: A cross-sectional comparative study was conducted that assessed acquired knowledge and self-perception using a semistructured survey administered before and after the demonstration and intervention using the simulator and reported the experience through the role of the patient and caregiver. The data were analyzed statistically to identify the demographic characteristics and differences between the groups of students. The data were analyzed statistically to identify the demographic characteristics and differences between the groups of students in the responses pre-post intervention, using statistical software (IBM SPSS Statistics 26.0). Results: Of the 256 participants surveyed before the intervention, 93.8% described cognitive deterioration as a significant disability and 53.1% considered the health system to be inadequate in meeting the needs of older individuals. Only 59.8% stated that the current academic training meets the educational requirements for the care of the elderly. In total, 98.9% of the participants reported that the simulator changed their perception by increasing their empathy. In total, 76.2% showed greater sensitivity to older adults and 79.3% reported that the experiential learning consolidated their professionalizing perspective. Among the younger participants (aged 18-20 years), sensitivity and reorientation toward pursuing an associated graduate degree were higher after the intervention (p=0.01). Conclusions: Educational strategies, such as the senescence simulator, offer an experiential intervention that strengthens the knowledge and attitudes toward older individuals. During the pandemic emergency, it proved to be a useful educational strategy in consolidating caring behavior as a hybrid educational tactic. The senescence simulation enabled the participants to widen their educational and professional schemes to encompass the care of the older population.

Lower Limb Exoskeleton for Rehabilitation with Flexible Joints and Movement Routines Commanded by Electromyography and Baropodometry Sensors.

This paper presents the development of an instrumented exoskeleton with baropodometry, electromyography, and torque sensors. The six degrees of freedom (Dof) exoskeleton has a human intention detection system based on a classifier of electromyographic signals coming from four sensors placed in the muscles of the lower extremity together with baropodometric signals from four resistive load sensors placed at the front and rear parts of both feet. In addition, the exoskeleton is instrumented with four flexible actuators coupled with torque sensors. The main objective of the paper was the development of a lower limb therapy exoskeleton, articulated at hip and knees to allow the performance of three types of motion depending on the detected user's intention: sitting to standing, standing to sitting, and standing to walking. In addition, the paper presents the development of a dynamical model and the implementation of a feedback control in the exoskeleton.

Sliding Mode-Based Active Disturbance Rejection Control of Assistive Exoskeleton Device for Rehabilitation of Disabled Lower Limbs.

In this study, a hybrid control strategy is proposed to improve the tracking performance of lower limb exoskeleton system dedicated for rehabilitation the motion of hip and knee limbs in disabled persons. The proposed controller together with exoskeleton device is practically instructive to make exercises for people suffering weakness in their lower limbs. The proposed controller combined both active disturbance rejection control (ADRC) with sliding mode control (SMC) to get their powerful characteristics in terms of rejection capability and robustness characteristics. The dynamic modelling of swinging lower limbs are developed and the controller has been designed accordingly. The numerical simulations have been conducted to validate the effectiveness of proposed controller. A comparison study in performance has been performed between the proposed controller and the traditional controller ADRC based on proportional-derivative controller. The simulated results showed that the proposed controller has better tracking performance than conventional version. In addition, the results showed that the sliding mode-based ADRC can considerably reduce the chattering level and better rejection capability, fast tracking behavior and less control effort.

Impact of a passive upper-body exoskeleton on muscle activity, heart rate and discomfort during a carrying task.

OBJECTIVE: The goal of this study was to compare erector spinae muscle fatigue, upper limb muscle activity, body areas discomfort, and heart rate during a 10-min carrying task with and without a passive upper-body exoskeleton (CarrySuitⓇ) while considering sex influences. BACKGROUND: Passive exoskeletons are commercially available to assist lifting or carrying task. However, evidence of their impact on muscle activity, fatigue, heart rate and discomfort are scarce and/or do not concur during carrying tasks. METHOD: Thirty participants (16 females and 14 male) performed a 10-min, 15kg load-carrying task with and without the exoskeleton in two non-consecutive days. Heart rate, and erector spinae, deltoid, biceps and brachioradialis muscle activity were recorded during the carrying tasks. In addition, erector spinae electromyography during an isometric hold test and discomfort ratings were measured before and after the task. RESULTS: While without the exoskeleton upper limb muscle activity increased or remained constant during the carrying task and showing high peak activation for both males and females, a significant activity reduction was observed with the exoskeleton. Low back peak activation, heart rate and discomfort were lower with than without the exoskeleton. In males muscle activation was significantly asymmetric without the exoskeleton and more symmetric with the exoskeleton. CONCLUSION: The tested passive exoskeleton appears to alleviate the physical workload and impact of carrying heavy loads on the upper limbs and lower back for both males and females.

Biomechanical Effects of Adding an Ankle Soft Actuation in a Unilateral Exoskeleton.

Stroke disease leads to a partial or complete disability affecting muscle strength and functional mobility. Early rehabilitation sessions might induce neuroplasticity and restore the affected function or structure of the patients. Robotic rehabilitation minimizes the burden on therapists by providing repetitive and regularly monitored therapies. Commercial exoskeletons have been found to assist hip and knee motion. For instance, unilateral exoskeletons have the potential to become an effective training system for patients with hemiparesis. However, these robotic devices leave the ankle joint unassisted, essential in gait for body propulsion and weight-bearing. This article evaluates the effects of the robotic ankle orthosis T-FLEX during cooperative assistance with the AGoRA unilateral lower-limb exoskeleton (hip and knee actuation). This study involves nine subjects, measuring muscle activity and gait parameters such as stance and swing times. The results showed a reduction in muscle activity in the Biceps Femoris of 50%, Lateral Gastrocnemius of 59% and Tibialis Anterior of 35% when adding T-FLEX to the AGoRA unilateral lower-limb exoskeleton. No differences were found in gait parameters. Nevertheless, stability is preserved when comparing the two legs. Future works should focus on evaluating the devices in ground tests in healthy subjects and pathological patients.

Assessment of the Mechanical Support Characteristics of a Light and Wearable Robotic Exoskeleton Prototype Applied to Upper Limb Rehabilitation.

Robotic exoskeletons are active devices that assist or counteract the movements of the body limbs in a variety of tasks, including in industrial environments or rehabilitation processes. With the introduction of textile and soft materials in these devices, the effective motion transmission, mechanical support of the limbs, and resistance to physical disturbances are some of the most desirable structural features. This paper proposes an evaluation protocol and assesses the mechanical support properties of a servo-controlled robotic exoskeleton prototype for rehabilitation in upper limbs. Since this prototype was built from soft materials, it is necessary to evaluate the mechanical behavior in the areas that support the arm. Some of the rehabilitation-supporting movements such as elbow flexion and extension, as well as increased muscle tone (spasticity), are emulated. Measurements are taken using the reference supplied to the system's control stage and then compared with an external high-precision optical tracking system. As a result, it is evidenced that the use of soft materials provides satisfactory outcomes in the motion transfer and support to the limb. In addition, this study lays the groundwork for a future assessment of the prototype in a controlled laboratory environment using human test subjects.

Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton.

Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user's lower limbs and send the information through the UDP protocol to the CompactRio system, which constitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted. The experimental results show that the motion accompaniment exhibits a delay of between 20 and 30 ms, and consequently, it may be stated that the integration between the exoskeleton and the sensors achieves a high efficiency. In this work, the integration between inertial sensors and an exoskeleton prototype has been proposed, where it is evident that the integration met the initial objective. In addition, the integration between the exoskeleton and IMOCAP is among the highest efficiency ranges of similar systems that are currently being developed, and the response lag that was obtained could be improved by means of the incorporation of complementary systems.

Exoesqueleto pediátrico para el tratamiento de la atrofia muscular espinal y otras enfermedades neuromusculares / Pediatric exoskeleton for the treatment of spinal muscular atrophy and other neuromuscular diseases

Esta tecnología se incluye dentro de las ortoprótesis robotizadas utilizadas en la rehabilitación de niños con parálisis cerebral (PC) y atrofia muscular espinal (AME) con la peculiaridad de ser completamente transportable, mejorando así la capacidad del paciente para conectar con el entorno. Aunque se han encontrado revisiones sistemáticas cuyo objetivo es evaluar la eficacia de las ortesis robotizadas en general, no se han encontrado estu dios específicos sobre el modelo ATLAS 2030, y las que se han encontrado son de baja calidad y no muestran resultados de eficacia ni seguridad, con cluyendo que hacen falta estudios para mostrar el beneficio en niños con PC y AME. En la búsqueda de trabajos originales, no se encontró ningún estudio con trolado con este dispositivo o con cualquier otro dispositivo portátil de estas características por lo que no podemos concluir que estos dispositivos hayan podido mostrar beneficio y seguridad en ninguna de las variables estudiadas comparado con fisioterapia. No obstante, los estudios encontrados, aunque no permitan mostrar efec tos beneficiosos, sí refuerzan la hipótesis inicial del desarrollador de que podrían ser seguros y eficaces. Por todo ello, concluimos que, para poder demostrar su seguridad y bene ficio en esta población, se requiere la realización de ensayos clínicos alea torizados y controlados de uso de la ortesis robótica ATLAS 2030 frente a fisioterapia convencional, con un suficiente número de participantes y duración, realizados por grupos de expertos independientes y sin conflicto de interés.

This technology is included within the robotic orthotics used in the reha bilitation of children with cerebral palsy and spinal cord atrophy with the peculiarity of being completely movable improving in that way patient´s connectivity to the environment. Although systematic reviews have been found with the aim of evaluating the efficacy of robotic orthoses in general, they have not been found for ATLAS 2030, and those that have been found are of low quality and do not show results of efficacy or safety, concluding that studies are needed to show the benefit in children with cerebral palsy and Spinal cord atrophy. In the search for original studies, no controlled study was found with this device or with any other portable device of these characteristics, so we cannot conclude that these devices have been able to show benefit and safety in any of the variables studied compared to physiotherapy. However, although the studies found do not show a beneficial effect, they do reinforce the developer's initial hypothesis that they could be safe and effective. Therefore, we conclude that randomized clinical trials, controlled versus physiotherapy, with a sufficient number of participants and duration, car ried out by independent groups without conflict of interest, are required.

Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton.

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.

BCI-Based Control for Ankle Exoskeleton T-FLEX: Comparison of Visual and Haptic Stimuli with Stroke Survivors.

Brain-computer interface (BCI) remains an emerging tool that seeks to improve the patient interaction with the therapeutic mechanisms and to generate neuroplasticity progressively through neuromotor abilities. Motor imagery (MI) analysis is the most used paradigm based on the motor cortex's electrical activity to detect movement intention. It has been shown that motor imagery mental practice with movement-associated stimuli may offer an effective strategy to facilitate motor recovery in brain injury patients. In this sense, this study aims to present the BCI associated with visual and haptic stimuli to facilitate MI generation and control the T-FLEX ankle exoskeleton. To achieve this, five post-stroke patients (55-63 years) were subjected to three different strategies using T-FLEX: stationary therapy (ST) without motor imagination, motor imagination with visual stimulation (MIV), and motor imagination with visual-haptic inducement (MIVH). The quantitative characterization of both BCI stimuli strategies was made through the motor imagery accuracy rate, the electroencephalographic (EEG) analysis during the MI active periods, the statistical analysis, and a subjective patient's perception. The preliminary results demonstrated the viability of the BCI-controlled ankle exoskeleton system with the beta rebound, in terms of patient's performance during MI active periods and satisfaction outcomes. Accuracy differences employing haptic stimulus were detected with an average of 68% compared with the 50.7% over only visual stimulus. However, the power spectral density (PSD) did not present changes in prominent activation of the MI band but presented significant variations in terms of laterality. In this way, visual and haptic stimuli improved the subject's MI accuracy but did not generate differential brain activity over the affected hemisphere. Hence, long-term sessions with a more extensive sample and a more robust algorithm should be carried out to evaluate the impact of the proposed system on neuronal and motor evolution after stroke.

Mycobiota on exoskeleton debris of Neohelice granulata in an alkaline-sodic salt marsh: in vitro enzyme ability at different temperatures and pH.

This study analysed the mycobiota on exoskeleton debris of the crab Neohelice granulata collected from an alkaline salt marsh and assessed the in vitro enzyme ability of selected isolates at different temperatures and pH. Exoskeleton fragments were incubated in moist chambers on paper and on agar medium. Growth and enzyme ability of selected fungi were also evaluated in agar media with 0.5 % casein, 1% Tween®20, and Chitin-Azure® by the production of a halo/growth ratio. We identified 22 fungal species using both methods. Since the two isolation methods added information to one another, both ones are necessary to recover the cultivable mycobiota associated with the exoskeleton debris. All fungi showed greater levels of enzyme activity in alkaline than acid medium with Tween®20. The halo diameter on casein and chitin varied according to the fungal isolate and pH. Most fungi had a larger halo at 4°C than at the other temperatures tested. Clonostachys rosea showed the greatest activity in all media at 4ºC. We conclude that exoskeletons of the N. granulata are a source of fungi able to produce enzyme activities that show differences upon incubation conditions to which they are cultivated such as ones including specific temperatures and pH values.

Design, Development, and Testing of an Intelligent Wearable Robotic Exoskeleton Prototype for Upper Limb Rehabilitation.

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.

Assist-As-Needed Exoskeleton for Hand Joint Rehabilitation Based on Muscle Effort Detection.

Robotic-assisted systems have gained significant traction in post-stroke therapies to support rehabilitation, since these systems can provide high-intensity and high-frequency treatment while allowing accurate motion-control over the patient's progress. In this paper, we tackle how to provide active support through a robotic-assisted exoskeleton by developing a novel closed-loop architecture that continually measures electromyographic signals (EMG), in order to adjust the assistance given by the exoskeleton. We used EMG signals acquired from four patients with post-stroke hand impairments for training machine learning models used to characterize muscle effort by classifying three muscular condition levels based on contraction strength, co-activation, and muscular activation measurements. The proposed closed-loop system takes into account the EMG muscle effort to modulate the exoskeleton velocity during the rehabilitation therapy. Experimental results indicate the maximum variation on velocity was 0.7 mm/s, while the proposed control system effectively modulated the movements of the exoskeleton based on the EMG readings, keeping a reference tracking error <5%.

Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review.

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.

Rehabilitación temprana de fracturas de radio distal con ortesis robóticas. Reporte de Casos / Early rehabilitation of distal radius fractures with robotic orthosis. Case Report

Introducción Los exoesqueletos robóticos son una nueva alternativa para complementar los procesos de rehabilitación funcional de la muñeca, facilitando la terapia de movilización pasiva temprana posterior a eventos traumáticos locales, con el propósito de mantener o restaurar el arco articular mientras cicatrizan los tejidos o consolidan las fracturas. El objetivo del estudio es presentar los resultados de la terapia de movilización temprana de forma pasiva mediante ortesis robóticas de muñeca. Materiales y Métodos Se seleccionaron cuatro pacientes con fracturas de radio distal, quienes fueron tratados quirúrgicamente con reducción abierta de la fractura más osteosíntesis con sistema de placa de bloqueo volar, fisioterapia convencional y movilización temprana con la órtesis robótica PRO-Wix; además, se hizo seguimiento clínico de la funcionalidad (escala DASH), del dolor (escala EVA), de los arcos de movilidad articular (goniómetro), de la adherencia y los potenciales eventos adversos. Resultados todos los pacientes se reintegraron a sus actividades de la vida diaria luego de tres semanas de rehabilitación, se registró recuperación del arco de movilidad articular, disminución de la intensidad del dolor, recuperación funcional, adecuada adherencia y no se presentaron eventos adversos. Discusión conservar al máximo la anatomía articular en la intervención quirúrgica especializada es la base para iniciar la rehabilitación temprana, y permitirá que el paciente tolere la movilización pasiva con órtesis robóticas.

Background Robotic exoskeletons are a new alternative to complement the functional rehabilitation processes of the wrist, facilitating early passive mobilization therapy after local traumatic events, with the purpose of maintaining or restoring joint range of motion while the tissues heal. The aim of the study is to present the results of early mobilization therapy in a passive robotic wrist orthosis. Methods Four patients with distal radius fractures were selected, treated surgically with open reduction and internal fixation of distal radius fracture with volar plate locking system. Conventional physiotherapy and early mobilization with the PRO-Wix robotic orthosis was performed. Clinical monitoring of functionality (DASH scale), pain (VAS scale), joint mobility arches (goniometer), adherence and potential adverse events were carried out. Results all patients returned to their daily living activities after three weeks of rehabilitation. Recovery of normal wrist joint range of motion was achieved; decreased in pain intensity, functional recovery, adequate adherence to rehabilitation protocol and adverse events were also recorded. Discussion preserving the joint anatomy as much as possible in specialized surgical intervention is the basis for starting early rehabilitation, and allowing the patient to tolerate passive mobilization with robotic orthoses. Further studies including a wide number of patients have to be conducted.

Polymer Optical Fiber-Based Integrated Instrumentation in a Robot-Assisted Rehabilitation Smart Environment: A Proof of Concept.

Advances in robotic systems for rehabilitation purposes have led to the development of specialized robot-assisted rehabilitation clinics. In addition, advantageous features of polymer optical fiber (POF) sensors such as light weight, multiplexing capabilities, electromagnetic field immunity and flexibility have resulted in the widespread use of POF sensors in many areas. Considering this background, this paper presents an integrated POF intensity variation-based sensor system for the instrumentation of different devices. We consider different scenarios for physical rehabilitation, resembling a clinic for robot-assisted rehabilitation. Thus, a multiplexing technique for POF intensity variation-based sensors was applied in which an orthosis for flexion/extension movement, a modular exoskeleton for gait assistance and a treadmill were instrumented with POF angle and force sensors, where all the sensors were integrated in the same POF system. In addition, wearable sensors for gait analysis and physiological parameter monitoring were also proposed and applied in gait exercises. The results show the feasibility of the sensors and methods proposed, where, after the characterization of each sensor, the system was implemented with three volunteers: one for the orthosis on the flexion/extension movements, one for the exoskeleton for gait assistance and the other for the free gait analysis using the proposed wearable POF sensors. To the authors' best knowledge, this is the first time that optical fiber sensors have been used as a multiplexed and integrated solution for the simultaneous assessment of different robotic devices and rehabilitation protocols, where such an approach results in a compact, fully integrated and low-cost system, which can be readily employed in any clinical environment.