Budapest University of Technology and Economics REHAROB system
Budapest University of Technology and Economics - REHAROB system Budapest University of Technology and Economics Human functional movements – previous motion studies in REHAROB and in ALLADIN Department of Applied Mechanics Department of Manufacturing Science and Technology COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore 1
Budapest University of Technology and Economics - REHAROB system In the REHAROB project 2 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Measurements with Arm. Model Diagnostic System in work at NIMR Sensor setup without orthosis Sensor setup with orthosis 3 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Biomechanical measurements (D 8) EMG sensors red: hypothetical markers green: real markers Force/Torque sensors 2/25/2021 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Arm. Model Measurement - Record Fully integrated and Explorer synchronized replay and scaling of Analogue (F/T+EMG) – data and 3 D-Motion – data for replay of the conducted physiotherapy and data selection for report module. Visualisation of marker movement by stick figure Zoom function 5 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Reharob Manager Architecture EMG Reharob Patient Database Arm. Model Force/ Torque Marker positions Reharob. Manager. xls D 8: measurement database Motion presentation Der. Mod Angles Forces Internal binary connection Text file transfer Knowledge Base 3 D Studio Max Logical connection Data for diagnosis COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore Diagnosis 6
Budapest University of Technology and Economics - REHAROB system Patient database • Personal Data Protection: Directive 95/46/EC of the European Parliament and of the Council of 24 October 1995 • Demographic data • Disease history • Current disease info • Recovery info (Visits, therapies) • Report generation • ( Therapy suggestion ) Deliverable 8 includes upper limb physiotherapy records made on 5 healthy subject and 20 (currently 27) patients. 7 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Visits and therapy forms 8 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Database Reports • Patients • Visits • Therapies 9 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Case Study: Patient 27 vertical displacement of the shoulder [mm] Assesment No. 1 100 90 80 70 60 50 40 30 20 10 0 V 1 V 2 V 3 Standard FIM Ashworth V 1 54 2 2 2 V 2 52 1. 5 2 2 V 3 51 1. 5 Right After Visit 1 a baclofen pump was implanted. 10 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system In the ALLADIN project 11 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system The ALLADIN data repository ADD Therapist Standard outcome measurements Once/twice per week NL Therapist Patient profile once per patient ALLADIN Force/Torque Measurements of ADL exercises once/twice per week 8 hours a day DB COSMOSYS Kick-off meeting, 11. 02. 2010, She has loss in walking effort Natural language description of the patient’s status 12 Once/twice per week Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system 13 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Baseline assesments with 6 functional tasks • Key: high stereotypisation both between repetitions and between individuals 14 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Baseline ASSESSMENTS with ALLADIN Functional tasks 15 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system All the 6 Activities of Daily Living have been modelled in CAD 1. Drinking a glass of water 2. Taking a spoon 3. Turning a key 4. Lifting a bag 5. Reaching to a bottle 6. Lifting and carrying a bottle 16 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Prototype #2, Ljubljana, August 2004 17 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Measurement of the drinking ADL • Key: high stereotypisation both between repetitions and between individuals 18 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system ADDs are in operation since Feb. Gent, Belgium – Maria. Middelares Hospital Dublin, Ireland – AMNCH Budapest, Hungary – Szent Janos Hospital 19 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system In the COSMOSYS project To be discussed 20 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system O 1: Wearable haptic interface with Inertial Motion Measurement Unit and Vibrotactile Actuators IMU + VT actuator Singapore: integrated with CPMM Hungary: integrated with rehabilitation robot 21 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system Questions • Exoskeleton or glove? • Coverage of upper arm – lower arm – hand –finger? Other body parts like trunk? • Number of IMU+VT sensors pro body parts? • When: only before or both before and during connected? If before then calibration problems during CPMM/robotic therapy. • Which stage: passive – active assisted – active constrained – active commanded? • Conflicting stimuli? Concertation of vibrotactile actuators with impedance feedback! 22 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
Budapest University of Technology and Economics - REHAROB system O 2: Novel cognitive methodology that decodes “human” functional movements ò Brain - Motion intent ò Pathological movement ò Assessment of motion ò Intervention of PT/vibroactuators/CPMM/rehab robot by physical constraints/stimulation ò Corrected movement ò Brain plasticity – learning ò Repetition…. ò Residual brain function COSMOSYS cognitive engine Understanding aim and state of motion in relation to the prescribed task Generation of control input to therapy actuators 23 COSMOSYS Kick-off meeting, 11. 02. 2010, Budapest-Singapore
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