8:30-8:40 Workshop Opening (Organizers)
- SESSION 1: ENGINEERING AND HUMAN SCIENCE RESEARCH TO IMPROVE ROBOTIC SOLUTIONS FOR ASSISTANCE (Chair: Prof. Antonio Frisoli)
8:40-9:00 Prof. Christine Gustafsson, Registered Nurse, Associate Professor in Caring Science, Mälardalen University College (Sweden)
Title: Development and implementation of health and welfare technology in dementia care, the JustoCat experience
Abstract: We are facing a rapidly expanding market offering welfare technology to health and social care. It is important that users (patients, relatives, professional caregivers) and researchers are active and involved in both development and implementation. The presentation addresses important
aspects of this work: Welfare technology corresponding to real needs, Ethical considerations and Scientific evaluations, which are exemplified in a project where researchers developed an interactive robotic cat; JustoCat www.justocat.se
9:00-9:20 Prof. Miki Saijo, PhD and Professor in Transdisciplinary Science and Engineering, Tokyo Institute of Technology (Japan)
Title: Evaluation of the usability of AT devices for frail elderly people from the aspect of interaction analysis
Abstract: With the rapid increase in the elderly population, the over-80 market is expected to expand all over the world. In order to foster this emerging market, evaluation of AT devices to support the quality of life of this age cohort is essential, however the methodology for testing the usability of these devices for frail elderly people is not yet established. Since these devices are used in the context of the interaction between frail elderly people and their caregivers, the usability of the devices should be evaluated under real-life conditions with an analysis of this interaction. This presentation will introduce usability tests for a 4-wheel electric assisted bicycle for frail elderly people which were carried out in Kakegawa city Japan in 2015 and the concept behind an ongoing international research collaboration project between Japan and Sweden on “food for life". It is the research project of the development and implementation of robotic assistive devices equipped with multi-grip tools and vision systems designed to help frail elderly people lead independent lives.
9:20-9:40 Prof Etienne Burdet, Professor in Human Robotics, Imperial College London (UK)
Title: Neuroscience-based, practical rehabilitation of the hand function
Abstract: Impressive rehabilitation robots have been developed in the last decades, which had however limited penetration into the clinic, and can hardly be used home. To address the needs of the increasing number of individuals affected by neurological diseases, we propose to develop practical and efficient technological solutions for neurorehabilitation, based on neuroscience investigations. This lecture will present three aspects of this research: i) Sensor-based tools and signal processing techniques to develop evidence-based assessment on the sensorimotor condition; ii) Simple rehabilitation devices for training the hand function that can be used from the bedside to home; iii) Robot-aided investigation of neural mechanisms of motor learning and recovery.
9:40-10:00 Prof. Shuichi Fukuda, Professor in Mechanical Engineering, Keio University (Japan)
Title: Proprioception assistance
Abstract: Coordination of body movements is very important for the handicapped. But motion control is very difficult due to its huge degrees of freedom. In this work, we aimed to help them adjust their sense of balance or proprioception by providing them with motion patterns and with a quantitative measure for evaluating their motions. This will not only facilitate motion learning of the handicapped, but it is expected to motivate them. Thus, this approach is expected to help them to recover not only physically, but also mentally.
10:00-10:30 Coffee Break
- SESSION 2(1): NEW ADVANCES IN EXOSKELETONS AND WEARABLE ROBOTIC TECHNOLOGIES FOR ASSISTANCE AND REHABILITATION (Chair: Prof. Eiichiro Tanaka)
10:30-10:50 Prof. Yukio Takeda, Tokyo Institute of Technology (Japan)
Title: Simple and Low-cost Robotic solutions for assistive rehabilitation
Abstract: In this talk, the design and development of the wearable walking assist machine using crutches for paraplegic and hemiplegic persons, and ankle rehabilitation device are presented. All of these machines and devices have been designed considering whole system composed of the user’s body structure as well as the machine itself. The dof (degree of freedom) of the total system was well considered, and appropriate arrangement of passive joints has been done. Through several experiences of development of devices, current and future directions are discussed for development of useful assistive devices.
10:50-11:10 Prof. Shaoping Bai, Associate Processor in Mechanical Engineering, Aalborg University (Denmark)
Title: Design and development of exoskeletons for active and assisted living of the elderly
Abstract: In this talk, the design and development of the exoskeletons will be presented in connection with an EU project called AXO-SUIT, which is aimed to assist the elderly in their instrumental activities of daily life. This will include the identification of the functional assistance requirements of potential end users of the AXO-SUIT, biomechanical modeling and simulation in human-exoskeleton interaction, the design of lightweight and compact shoulder mechanism, and the development of adaptive control algorithms with novel human intention detection. Initial end-user testing results will be described and discussed.
11:10-11:30 Prof. Antonio Frisoli, Associate Professor in Mechanical Engineering, Scuola Superiore Sant’Anna (Italy)
Title: Design and control of upper limb exoskeleton for rehabilitation and assistance
Abstract: What are the main guidelines and indications to be followed for the design of exoskeleton based rehabilitation systems? In this talk we will face the main construction and implementation solutions, control approaches and we’ll show the application in upper limb stroke rehabilitation scenarios and assistance.
11:30-11:50 Prof Lorenzo Masia, Assistant Professor in Mechanical Engineering, Nanyang Technological University (Singapore)
Title: Upper limb Soft Wearable Exosuit: Human in the Loop.
Abstract: The presentation will ramp up with an initial summary of my experience in robot aided rehabilitation to gradually shift towards the new trend in robotics which is the wearable assistive exoskeleton. In recent years, compliant actuation technology have been increasingly developed and employed in the fields of robotic rehabilitation, haptics and wearable exoskeletons: devices where safety, limitation of peak forces and gentle interaction are extremely important. To date, several examples of robotic applications have been designed to address the demanding needs of these disciplines that require compliance in actuation and manipulation. In my talk I would like to introduce a new approach in wearable exosuits for upper limb assistance: starting from the concept of a high mechanically transparent device, which allows mobility of the human user, to new architectures based on textiles materials and underactuated compliant transmissions. By introducing new wearable devices for upper limb assistance/augmentation, I will discuss in details our hardware and software solutions with the Human User in The Loop.
11:50-12:10 Prof Herman van der Kooij, Professor in Biomechatronics and Rehabilitation Technology, University of Twente (Netherlands)
Title: Lower limb exoskeletons and gait rehabilitation
Abstract: Several (robotic) devices have been developed to support gait rehabilitation, including lower limb exoskeletons. They differ in which degrees of freedom they control, constrain or leave free. Controlled degrees of freedom differ in how they are controlled and the control performance. Given the large differences in devices, the question can be raised whether these differences do matter. The pro and cons of the different approaches will be discussed from the perspective of human motor control and learning, and from manual physical therapy.
- SESSION 2(2): NEW ADVANCES IN EXOSKELETONS AND WEARABLE ROBOTIC TECHNOLOGIES FOR ASSISTANCE AND REHABILITATION (Chair: Prof. Jorge Solis)
13:15- 13:35 Prof. Eiichiro Tanaka, Professor in Mechanical Engineering, Waseda University (Japan)
Title: Development of Life Support Devices Using Inclusive Design
Abstract: We developed various life support devices for the elderly and patients. To design these devices, we used the concept of inclusive design. All devices were designed by not only engineers but also medical doctors, PT, OT, patients, designers, etc. In the case of walking assistance device, we
suggest to assist only ankle joint utilizing stretch reflex and the bi-articular muscle, this idea was born from the discussion. In this talk, the method of inclusive design, some developed assistance devices for walking, standing, upper limb operation, and lifting are introduced.
13:35-13:55 Prof. Kyoungchul (KC) Kong, Associate Professor in Mechanical Engineering, Sogang University (Korea)
Title: Rehabilitation through Entertainment with a Full-Lower Body Exoskeleton Robot, ANGELEGS
Abstract: The design of an assistive robot for people with partially impaired walking ability demands unique requirements, such as minimal mechanical impedance and high back-drivability, as well as high power density. Mechanical parts must be ergonomically designed, such that humans can use the devices for a long period of time without discomfort. The motor control function of people with impaired walking ability is not as robust as that of the normal, and thus the overall human body system becomes vulnerable to disturbances (i.e., external forces, inclinations, etc.) or model variations (i.e., loads, etc.). It is, however, still active, unlike complete paraplegics, and thus the robot must not generate any unexpected resistance to the voluntary motions of people with impaired walking ability for the safety and the minimal discomfort. Therefore, both the design and control of assistive robots for people with partially impaired walking ability are very challenging. ANGELEGS is a new wearable robot for assisting the mobility of people with partially impaired walking ability. Assistance as needed (AAN) is a fundamental approach in the control of ANGELEGS. AAN requires the assistive robots to generate assistive joint torques only when the human needs assistance and to exhibit minimal resistance when the assistance is not necessary. For effective rehabilitation treatment, various services including the internet-based rehabilitation program, self-fitness program, and the other entertainment programs are provided with ANGELEGS also.
13:55-14:15 Dr. Simona Crea, Post doctoral fellow, Scuola Superiore Sant’Anna (Italy)
Title: Exoskeleton technologies for upper-limb rehabilitation in stroke
Abstract: Upper-limb movement disorders due to neurological accidents significantly reduce a patient’s quality of life, limiting the independence of the affected subjects. Robotic wearable devices for rehabilitation have been proposed to allow patients to practice longer and more intensively but at the same time, should be designed to provide relatively-high torques with a safe human-robot interface. In this talk the overview of the upper-limb exoskeletons developed at The BioRobotics Institute will be discussed, with a particular focus on the solutions adopted for realizing highly ergonomic devices. Recent results on human-subjects experiments for the validation of the physical and cognitive human-robot interface will be also presented.
14:15-15:00 Poster teaser + poster session #1 Assistance and Support
1-1 Swagata Das, et al., Design and development of a PAM-enabled wrist assist glove
1-2 Irfan Hussain, et al., Towards the assessment of the functionality and usefulness of robotic extra-finger
1-3 Ann-Louise Lindborg, et al., Design approach of a robotic assistive eating device with a multi-grip and camera for frail elderly’s independent life
1-4 Manabu Okui, et al., Proposal of Exoskeleton with Variable Viscoelastic Joint System named “Airsist I”
1-5 Shigang Li, et al., Gaze-Based Interface for Wheelchair Robot - Acquiring Gaze Trajectory by Full-View Camera
1-6 Susumu Hara, A Networked Control System Using Wi-Fi Communication and Its Application to Assist Cart Control
1-7 Tasuku Hoshino, et al., Development of a dynamically stable wheelchair of single spherical drive
15:00-15:15 Coffee Break
15:15-16:00 Poster teaser + poster session #2 Rehabilitation and Exercise
2-1 Daisuke Matsuura, et al., Development of Ankle Rehabilitation Device which can Mechanically Avoid Undesirable Load
2-2 Justin Fong, et al., The importance of transparency in rehabilitation robot design and its evaluation
2-3 Jacob Nielsen, et al., Individualised and adaptive upper limb rehabilitation with industrial robot using dynamic movement primitives
2-4 Anders Stengaard Sørensen, et al., Natural Kinesthetic Interaction and Social Relations Between Training-Robots and Their Users
2-5 Tadaaki Ikehara, Evaluation of a Device that Combines Exercise and Entertainment -In the view of Electroencephalogram analysis-
2-6 T. Kodama, et al., Stride length estimation in self-pace and brisk walking with a single inertial measurement unit on the shank
2-7 Takumi Ohashi, et al., An Interaction Analysis of User-Testing to Extract Salient User Experience with the Robotic Assistive Device Life-Walker
- SESSION 3: NEW ADVANCES IN MECHATRONICS SYSTEMS FOR ASSISTANCE AND REHABILITATION (Chair: Prof. Yukio Takeda)
16:00-16:20 Prof . Kazuyuki Kojima, Assistant Professor, Saitama University (Japan)
Title: Floor-Deformation Mechanism for Nursing Bed Considering of Patient's Posture and Position Change
Abstract: A nursing bed intending to support positioning a physically handicapped patient is discussed in this presentation. For physically handicapped people such as paraplegia, hemiplegia, and quadriplegia, posture and position change on the bed is one of the most important activities of daily living (ADL). But these activities impose an excessive burden on the patient. In order to reduce such burden, we have been developing the nursing bed to support the patient to change their position and posture on the bed. In this presentation, we show a mechanism of our prototype and experiments for validation of its functionality.
16:20-16:40 Prof. Jorge Solis, Associate Professor in Electrical Engineering, Karlstad University (Sweden)
Title: Development of a multipurpose assistive robot vehicle
Abstract: Abstract: In industrialized countries, regional disparities in healthcare and welfare services, increased medical expense caused by aging societies, and shortages of medical staff have become serious problems. Assistive robots are developed to improve the security, independence and quality of the elderly. However, current assistive robots are only designed to accomplish one task and still require technical knowledge from the elderly and/or care givers to exploit the robot’s capabilities. Therefore, the next generation of assistive robots has to be natural and intuitive to interact with, communicate with, work with as partners, and learn to adapt to their respective needs. For this purpose, the development of a multipurpose human-friendly assistive robot vehicle has been proposed at Karlstad University. The proposed system is being designed for providing walking-support to the elderly, as well as assistance for carrying-medical tools to care-givers. In this paper, the current development progress of two assistive robot vehicles will be described: an intelligent carrying-medical tools robot vehicle and a human-friendly assistive robot vehicle for supporting physically elderly.
16:40-17:00 Prof. Jose L. Pons, Research Professor, Spanish National Research Council (Spain)
Title: Effects of associative neurorehabilitation with WRs in stroke and spinal cord injury
Abstract: Assistive and rehabilitation WRs can lead to improved functional outcomes and subsequent neurophysiological changes when causally driven out of neural motor planning activity. In this talk, the principles of associative interventions with WRs will be outlined and the assessment of functional and neurophysiological changes presented in the context of both upper and lower extremities WRs.
17:00 Closing of workshop