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Interactive Compliance Control of a Wrist Rehabilitation Device (WReD) with Enhanced Training Safety.

ABSTRACT: Interaction control plays an important role in rehabilitation devices to ensure training safety and efficacy. Compliance adaptation of interaction is vital for enabling robot movements to better suit the patient's requirements as human joint characteristics vary. This paper proposes an interactive compliance control scheme on a wrist rehabilitation device (WReD) for enhanced training safety and efficacy. This control system consists of a low-level trajectory tracking loop and a high-level admittance loop. Experiments were conducted with zero load and human interaction, respectively. Satisfactory trajectory tracking responses were obtained, with the normalized root mean square deviation (NRMSD) values being 1.08% with zero load and the NRMSD values no greater than 1.4% with real-time disturbance and interaction from human users. Results demonstrate that such an interactive compliance control method can adaptively adjust the range of training motions and encourage active engagement from human users simultaneously. These findings suggest that the proposed control method of the WReD has great potentials for clinical applications due to enhanced training safety and efficacy. Future work will focus on evaluating its efficacy on a large sample of participants.

SUBMITTER: Xu D

PROVIDER: S-EPMC6409001 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature

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Interactive Compliance Control of a Wrist Rehabilitation Device (WR<i>e</i>D) with Enhanced Training Safety.

Xu Dong D Zhang Mingming M Xu Han H Fu Jianming J Li Xiaolong X Xie Sheng Q SQ Xie Sheng Q SQ

Journal of healthcare engineering 20190218

Interaction control plays an important role in rehabilitation devices to ensure training safety and efficacy. Compliance adaptation of interaction is vital for enabling robot movements to better suit the patient's requirements as human joint characteristics vary. This paper proposes an interactive compliance control scheme on a wrist rehabilitation device (WR<i>e</i>D) for enhanced training safety and efficacy. This control system consists of a low-level trajectory tracking loop and a high-level ...[more]

PMID: 30918621

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Project description:BackgroundIn recent years, many studies focused on the use of robotic devices for both the assessment and the neuro-motor reeducation of upper limb in subjects after stroke, spinal cord injuries or affected by neurological disorders. Contrarily, it is still hard to find examples of robot-aided assessment and rehabilitation after traumatic injuries in the orthopedic field. However, those benefits related to the use of robotic devices are expected also in orthopedic functional reeducation.MethodsAfter a wrist injury occurred at their workplace, wrist functionality of twenty-three subjects was evaluated through a robot-based assessment and clinical measures (Patient Rated Wrist Evaluation, Jebsen-Taylor and Jamar Test), before and after a 3-week long rehabilitative treatment. Subjects were randomized in two groups: while the control group (n = 13) underwent a traditional rehabilitative protocol, the experimental group (n = 10) was treated replacing traditional exercises with robot-aided ones.ResultsFunctionality, assessed through the function subscale of PRWE scale, improved in both groups (experimental p = 0.016; control p < 0.001) and was comparable between groups, both pre (U = 45.5, p = 0.355) and post (U = 47, p = 0.597) treatment. Additionally, even though groups' performance during the robotic assessment was comparable before the treatment (U = 36, p = 0.077), after rehabilitation the experimental group presented better results than the control one (U = 26, p = 0.015).ConclusionsThis work can be considered a starting point for introducing the use of robotic devices in the orthopedic field. The robot-aided rehabilitative treatment was effective and comparable to the traditional one. Preserving efficacy and safety conditions, a systematic use of these devices could lead to decrease human therapists' effort, increase repeatability and accuracy of assessments, and promote subject's engagement and voluntary participation. Trial Registration ClinicalTrial.gov ID: NCT04739644. Registered on February 4, 2021-Retrospectively registered, https://www.clinicaltrials.gov/ct2/show/study/NCT04739644 .

Project description:PurposeThis study aimed to apply open-source analysis code to raw habitual physical activity data from wrist-worn monitors to: 1) objectively, unobtrusively, and accurately discriminate between "running" and "nonrunning" days; and 2) develop and compare simple accelerometer-derived metrics of external training load with existing self-report measures.MethodsSeven-day wrist-worn accelerometer (GENEActiv; Activinsights Ltd, Kimbolton, UK) data obtained from 35 experienced runners (age, 41.9 ± 11.4 yr; height, 1.72 ± 0.08 m; mass, 68.5 ± 9.7 kg; body mass index, 23.2 ± 2.2 kg·m; 19 [54%] women) every other week over 9 to 18 wk were date-matched with self-reported training log data. Receiver operating characteristic analyses were applied to accelerometer metrics ("Average Acceleration," "Most Active-30mins," "Mins≥400 mg") to discriminate between "running" and "nonrunning" days and cross-validated (leave one out cross-validation). Variance explained in training log criterion metrics (miles, duration, training load) by accelerometer metrics (Mins≥400 mg, "workload (WL) 400-4000 mg") was examined using linear regression with leave one out cross-validation.ResultsMost Active-30mins and Mins≥400 mg had >94% accuracy for correctly classifying "running" and "nonrunning" days, with validation indicating robustness. Variance explained in miles, duration, and training load by Mins≥400 mg (67%-76%) and WL400-4000 mg (55%-69%) was high, with validation indicating robustness.ConclusionsWrist-worn accelerometer metrics can be used to objectively, unobtrusively, and accurately identify running training days in runners, reducing the need for training logs or user input in future prospective research or commercial activity tracking. The high percentage of variance explained in existing self-reported measures of training load by simple, accelerometer-derived metrics of external training load supports the future use of accelerometry for prospective, preventative, and prescriptive monitoring purposes in runners.

Project description:BackgroundPulmonary hypertension (PH) is a chronic progressive disease characterized by increasing pulmonary vascular resistance, poor prognosis and high disability rate. Although many targeted drugs for PH have been put to clinical use, most patients still have poor exercise tolerance and quality of life. Exercise training is considered to further improve exercise capacity and quality of life in patients with PH, but it has not been fully studied and utilized. The aim of this systematic review and meta-analysis is to evaluate the effectiveness and safety of exercise training in patients with PH.MethodsA search was conducted for the meta-analysis using the databases PubMed, Embase, Cochrane Library, including literature published before December 2018. The primary outcome of this meta-analysis was a change in the 6-minute walk distance (6MWD). In addition, peak oxygen uptake (PeakVO2), resting pulmonary arterial systolic pressure (PASPrest), resting heart rate (HRrest), peak exercise heart rate (HRpeak), oxygen uptake anaerobic threshold (VO2 at AT), maximum workload and quality of life (QoL) were also assessed.ResultsA total of 651 patients in 17 studies were included. A meta-analysis showed that exercise training was associated with significant improvement in the 6MWD [weighted mean difference (WMD): 64.75 m (95% CI: 53.19-76.31 m, P<0.001)], peakVO2 [WMD: 1.78 mL/min/kg (95% CI: 1.27-2.29 mL/min/kg, P<0.001)], HRpeak [WMD: 11.07 beats/min (95% CI: 8.04-14.11 beats/min, P<0.001)] and QoL measured by SF-36 questionnaire subscale scores. Furthermore, exercise training is well tolerated, and no major adverse event occurred related to exercise training.ConclusionsExercise training is associated with a significant improvement in exercise capacity, cardiorespiratory fitness and quality of life among patients with PH and proved to be safe for stable PH patients with optimization of medical therapy. However, more large-scale multicenter studies are needed to confirm the effectiveness and safety of exercise training in patients with PH.

Dataset Information

Interactive Compliance Control of a Wrist Rehabilitation Device (WReD) with Enhanced Training Safety.

Publications

Interactive Compliance Control of a Wrist Rehabilitation Device (WR<i>e</i>D) with Enhanced Training Safety.

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