Segmentation of stairs ascent and descent for neuroprosthetic motor control.

The work presents the development of a segmentation algorithm for stairs ascent and descent. The algorithm is based on a Finite State Machine that uses leg angular position and linear acceleration in order in the sagittal plane to detect 4 different subphases of each activity. The algorithm was implemented in a neuroprosthetic device and was validated in realtime with 6 healthy subjects and different negotiating speeds. This type of algorithm allows motor neuroprostheses to stimulate muscle groups properly in order to assist motor tasks during daily life activities or rehabilitation therapies.

Feedback Error Learning Controller for Functional Electrical Stimulation Assistance in a Hybrid Robotic System for Reaching Rehabilitation.

Hybrid robotic systems represent a novel research field, where functional electrical stimulation (FES) is combined with a robotic device for rehabilitation of motor impairment. Under this approach, the design of robust FES controllers still remains an open challenge. In this work, we aimed at developing a learning FES controller to assist in the performance of reaching movements in a simple hybrid robotic system setting. We implemented a Feedback Error Learning (FEL) control strategy consisting of a feedback PID controller and a feedforward controller based on a neural network. A passive exoskeleton complemented the FES controller by compensating the effects of gravity. We carried out experiments with healthy subjects to validate the performance of the system. Results show that the FEL control strategy is able to adjust the FES intensity to track the desired trajectory accurately without the need of a previous mathematical model.

Hybrid robotic systems for upper limb rehabilitation after stroke: A review.

In recent years the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for rehabilitation of lower and upper limb motor functions. This paper presents a review of the state of the art of current hybrid robotic solutions for upper limb rehabilitation after stroke. For this aim, studies have been selected through a search using web databases: IEEE-Xplore, Scopus and PubMed. A total of 10 different hybrid robotic systems were identified, and they are presented in this paper. Selected systems are critically compared considering their technological components and aspects that form part of the hybrid robotic solution, the proposed control strategies that have been implemented, as well as the current technological challenges in this topic. Additionally, we will present and discuss the corresponding evidences on the effectiveness of these hybrid robotic therapies. The review also discusses the future trends in this field.

Immediate effects of a controllable knee ankle foot orthosis for functional compensation of gait in patients with proximal leg weakness.

Application of intermittent control of the knee joint stiffness in a knee ankle foot orthosis (KAFO) during gait is proposed. The approach combines inertial sensors and an actuator system in order to apply compensation in quadriceps weakness with a wearable device. Two methods, segment-angular rotation based and segment-angular velocity based, are analysed for the control of the knee joint state (intermittent stiffness) based on the inertial sensors signals. Protocolled tests are developed with two post-polio syndrome patients (PPS). In this study, the cases of gait with free-swinging leg and safe stance with the orthotic system are presented in terms of quantified kinematics (average peak angle of knee flexion of 50 degrees ) and evidences of reduction of frequent compensations (e.g. leg lateral movement) in post-polio syndrome patients. The results from immediate inspection indicate an important improvement of the gait patterns in two patients with proximal leg weakness by means of compensations applied by the wearable orthosis.

Odontogeriatria: a especialidade do futuro / Odontogeriatrics: the specialty of future

Atualmente, estima-se que existam mais de 500 milhões de idosos no mundo. Somente no Brasil, são aproximadamente 15 milhões. Segundo o Instituto Brasileiro de Geografia e Estatística (IBGE), o país terá aproximadamente 25 milhões de idosos em 2045. O envelhecimento da população levanta alguns questionamentos intrigantes para a prática odontológica a médio e longo prazos. Daqui a 20 anos, dois em cada três pacientes que se dirigirão aos consultórios serão idosos