R. Oboe, O. A. Daud, S. Masiero, F. Oscari, and G. Rosati
A teleoperation system for a remote evaluation of the hand in patients with neurological impairments
In Proceedings of the 6th Europe-Asia congress on Mechatronics EAM 2010, pages 17Ė22, Yokohama, Japan, November 22-24 2010

Abstract: Haptic devices have become an advanced and powerful tool in the perspective of robotic neurorehabilitation for motor learning, particularly in post-stroke patients. As an standard approach, this kind of interfaces are used in a local environment, where the patient interacts with a virtual world recreated in the computer screen. An extension of this standard approach is verified when the therapist is allowed to feel and interact remotely with the patient, in order to remotely assess the conditions of the patient and consequently propose a proper rehabilitation program. In this paper, in order to achieve this issue, we propose a bilateral system that is based on two hand orthosis, one used by the therapist as a master device, and the other one used by the patient as a slave device. Using the master device, the therapist is able to remotely move and feel, due to the force feedback, the patientís hand. Therefore, the therapist can successfully test and evaluate the conditions of the patient. The proposed bilateral system is based on a four-channel control architecture, master/slave device with reaction torque observer (RTOB), and a time delay compensation method which is in turn based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). This paper implements also a scaling down compensation value (SDCV) of the CDOB, but only when the opposing resistance of the patientís hand is over a certain threshold, which depends in turn on each patient.

Topic: Medicals
Activity: Active hand orthosis for post-stroke rehabilitation

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