Chapter
Rehabilitation Robotics: Technology and Applications
PART I: Background and Technology
Technology and Design Concepts
Computational Neurorehabilitation
Software Environments for Rehabilitation Robotics
High Intensity, Assist-As-Needed Therapy to Improve Motor Functions
Robots Not Only for Stroke Rehabilitation
Integrating Robot Therapy With Neuro- and Psychophysiological Techniques
Robots And Information Technologies Advances Toward Long-Term Intervention
Chapter 1: Physiological basis of neuromotor recovery
The Functional Organization of the Motor Network
Motor Network Activity and Movement
The Physiology of Ischemic Infarctions
Motor Deficits Following Stroke
Motor Network Plasticity Following Infarction
Functional Plasticity Following Infarction
Animal Models of Cortical Injury
Conclusions and Implications for Rehabilitative Therapies
Chapter 2: An overall framework for neurorehabilitation robotics: Implications for recovery
Hierarchical Architecture of the Motor System
Neural Plasticity and Functional Recovery, After Lesion of the Central Nervous System
The Neurobiology of Motor Skills Acquisition and Learning for Rehabilitation
Rehabilitation Modalities
Characteristics of Successful Strategies for Neurorehabilitation: Clinical Evidence
Chapter 3: Biomechatronic design criteria of systems for robot-mediated rehabilitation therapy
Design Criteria of Biomechatronic Devices for Robot-Mediated Rehabilitation
Modeling the Human Component
Overview of Control Strategies
The CBM-Motus and the LENAR: Two Case Studies
CBM-Motus: A Planar Robot for Upper Limb Neurorehabilitation
LENAR: A Nonanthropomorphic Wearable Exoskeleton for Human Walking Assistance and Rehabilitation
Chapter 4: Actuation for robot-aided rehabilitation: Design and control strategies
Robot Architectures and Actuators
Mechanical Impedance/Admittance Control
Friction and Backlash Compensation
Implications for the Control of Rehabilitation Robots
Chapter 5: Assistive controllers and modalities for robot-aided neurorehabilitation
Time-triggered assistance
Activity-triggered assistance
Other Types of Assistance
Chapter 6: Exoskeletons for upper limb rehabilitation
Kinematic Issues in Exoskeleton Design
Tendon transmission designs
Series elastic and variable impedance
Summary of actuation solutions
Clinical Evidences of Upper Limb Rehabilitation With Exoskeletons
Chapter 7: Exoskeletons for lower-limb rehabilitation
Lower Limb Exoskeletons for Rehabilitation: State of the Art
New Horizons for Wearable Exoskeleton Technology: Symbiotic Interaction
Bioinspired Actuation in Wearable Exoskeletons for Walking
Conventional actuator technologies
Lightweight, low power controllable actuators
Admittance and impedance controllers
Setting references for robotic control
Neuromusculoskeletal (NMS) modelling for feedback and control
Chapter 8: Performance measures in robot assisted assessment of sensorimotor functions
Classification of Robot-Measured Parameters
Measures Describing Motor Function
Measures Describing Sensory Function
Measures Describing Cognitive Function
Monitoring Components of Motor Recovery
Adapting Therapy Based on Motor Performance
Relationship Between Clinical and Robotic Measures
Chapter 9: Computational models of the recovery process in robot-assisted training
Computational Models of Motor Learning
Models of Sensorimotor Adaptation
Models of Motor Skill Learning
Models of Neuromotor Recovery
Models of Recovery at Neural Level
Models of Recovery at Function Level
Modeling the Role of Robot Assistance
Multirate and Spatial Generalization Models of Recovery
System Identification Techniques
Chapter 10: Interactive robot assistance for upper-limb training
Optimal Control Interaction Framework
Master-Slave Interaction for Passive Training
Education-Type Interaction for Physical Rehabilitation
Interaction With Poststroke Individuals
Challenging Physical Rehabilitation Through Competition
Stable, Reactive and Adaptive Interaction Control Based on Game Theory
Chapter 11: Promoting motivation during robot-assisted rehabilitation
Introduction: Why is motivation important?
Virtual reality in robot-aided rehabilitation
Determining the patient’s goal in a virtual environment
Designing the appearance of the virtual environment
Ensuring appropriate challenge
Chapter 12: Software platforms for integrating robots and virtual environments
Chapter 13: Twenty+ years of robotics for upper-extremity rehabilitation following a stroke
Rehabilitation Robotic Principles
Backdrivability and Performance
MIT-Manus and Other Rehabilitation Robotics
1990’s Studies: Sub-Acute Stroke Phase
2000’s Studies: Chronic Stroke
Chapter 14: Three-dimensional, task-oriented robot therapy
Clinical Experience With 3D Devices
Interpersonal Task Oriented Training
Chapter 15: Robot-assisted rehabilitation of hand function
Robotic Approaches for Hand Rehabilitation
Powered Hand Exoskeleton Devices
End-Effector Hand Rehabilitation Robots
Entire Upper Limb Solutions
Clinical Studies on Robot-Assisted Rehabilitation of Hand Function
Clinical Evidence Supports the Application of Robotic Systems for Hand Rehabilitation
Training Modalities to Restore Hand Function and Promote Increased Intensity
The Clinical Need for Simple Devices
Potential to Further Promote Recovery Through Robot-Assisted Therapy of Hand Function
Chapter 16: Robot-assisted gait training
Examples of Gait Rehabilitation Robots
Exoskeletal Robotic Systems
End-effector-Based Robotic Systems
Systems Supporting Overground Gait Training
Therapy of Spinal Cord Injury and Further Pathologies
Chapter 17: Wearable robotic systems and their applications for neurorehabilitation
Technological Barriers and Scientific Challenges
Compatibility of the Mechanical Structure
Rigid Systems for Assistance to a Single Joint
Multilink Rigid Systems for the Whole Lower Limbs
Powered orthoses and exoskeletons
Multilink Rigid Systems for the Upper-Limb and the Hand
Wearable Interactive Systems
Chapter 18: Robot-assisted rehabilitation in multiple sclerosis: Overview of approaches, clinical outcomes, and perspectives
Part I. Upper Limb Training
Clinical Effects of BWSTT and RAGT
Biomechanical Effects of BWSTT and RAGT in the Trunk and Lower Extremity
Chapter 19: Robots for cognitive rehabilitation and symptom management
A Case Study: Use of a SAR in Therapeutic Interventions With Cognitively Impaired Elderly
Clinical Protocol for SARs: Using PARO in the Clinical Setting
Chapter 20: Hybrid FES-robot devices for training of activities of daily living
Hybrid Assistive Systems for the Future
Chapter 21: Robotic techniques for the assessment of proprioceptive deficits and for proprioceptive training
What Is Proprioception and Why Is It Important?
Assessment of Proprioceptive Deficits
Robotic Assessment Methods
Joint position matching methods (JPM)
Unilateral vs bilateral matching protocols
Performance assessment: Accuracy vs precision
Adapting testing protocols to limitations due to neuromotor deficits
Psychophysical threshold methods (PTM)
Robotic Protocols of Proprioceptive Training
Enriching Robotic Assistance With Supplemental Proprioceptive Feedback
Chapter 22: Psychophysiological responses during robot-assisted rehabilitation
Expression of Human Emotion
Physiological Signal Acquisition
Electrocardiogram Physiological Features
Skin Conductance Signal Physiological Features
Respiration Signal Physiological Features
Peripheral Skin Temperature Physiological Features
An Example of Recording Physiological Signals
Physiological Responses in Healthy Subjects
Physiological Responses in a Stroke Population
Using Physiological Responses to Condition Human-Robot Interaction
Biocooperative Loop Control: State of the Art
Chapter 23: Muscle synergies approach and perspective on application to robot-assisted rehabilitation
How to Extract Muscle Synergies From Muscle Activity
Muscle Synergies Evidences in Humans and Their Implication for Rehabilitation
Muscle Synergies in Stroke
Muscle Synergies in Spinal Cord Injury
Muscle Synergies in Parkinson’s Disease
Muscle Synergies in Multiple Sclerosis
Muscle Synergies During Robot-Assisted Rehabilitation
Muscle Synergies as a Quantitative Assessment for Robot-Aided Rehabilitation
Muscle Synergies for the Design of Control Strategies for Rehabilitative Devices
Conclusions and Future Trends
Chapter 24: Telerehabilitation Robotics: Overview of approaches and clinical outcomes
Introduction and Impetus for Telerehabilitation Robotics
Level of User Involvement/Assistance
Intervention Protocols, Strategies, and Dosing
Satisfaction and Quality of Life
Conclusion and Future Directions
Rehabilitation Robotics
：Technology and Application
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