Search Results (66)

The Internet of Things (IoT) is gaining increasing attention in healthcare due to its potential to enable continuous monitoring of patients, both at home and in controlled medical environments. In this paper, we explore the integration of IoT with human-robotics in the context of motor rehabilitation for groups of patients performing moderate physical routines, focused on balance, stretching, and posture. Specifically, we propose the I-TROPHYTS framework, which introduces a step-change in motor rehabilitation by advancing towards more sustainable medical services and personalized diagnostics. Our framework leverages wearable sensors to monitor patients’ vital signs and edge computing to detect and estimate motor routines. In addition, it incorporates a humanoid robot that mimics the actions of a physiotherapist, adapting motor routines in real-time based on the patient’s condition. All data from physiotherapy sessions are modeled using an ontology, enabling automatic reasoning and planning of robot actions. In this paper, we present the architecture of the proposed framework, which spans four layers, and discuss its enabling components. Furthermore, we detail the current deployment of the IoT system for patient monitoring and automatic identification of motor routines via Machine Learning techniques. Our experimental results, collected from a group of volunteers performing balance and stretching exercises, demonstrate that we can achieve nearly 100% accuracy in distinguishing between shoulder abduction and shoulder flexion, using Inertial Measurement Unit data from wearable IoT devices placed on the wrist and elbow of the test subjects. Full article

Background: ActiMotus, a thigh-accelerometer-based software used for the classification of postures and movements (PaMs), has shown high accuracy among adults and school-aged children; however, its accuracy among younger children and potential differences between sexes are unknown. This study aimed to evaluate the accuracy of ActiMotus to measure PaMs among children between 3 and 14 years and to assess if this was influenced by the sex or age of children. Method: Forty-eight children attended a structured ~1-hour data collection session at a laboratory. Thigh acceleration was measured using a SENS accelerometer, which was classified into nine PaMs using the ActiMotus software. Human-coded video recordings of the session provided the ground truth. Results: Based on both F1 scores and balanced accuracy, the highest levels of accuracy were found for lying, sitting, and standing (63.2–88.2%). For walking and running, accuracy measures ranged from 48.0 to 85.8%. The lowest accuracy was observed for classifying stair climbing. We found a higher accuracy for stair climbing among girls compared to boys and for older compared to younger age groups for walking, running, and stair climbing. Conclusions: ActiMotus could accurately detect lying, sitting, and standing among children. The software could be improved for classifying walking, running, and stair climbing, particularly among younger children. Full article

Daily walking reflects the quality of life concerning physical status and its association with the risk of falls. Abnormal walking can lead to injuries and increase the likelihood of future falls. It has been found that older adults are more prone to falls than younger persons. However, there is limited research on gait analysis in older adults. Thus, we analyzed gait parameters, involving 10 participants aged between 20 and 30 years old, and 10 participants aged 50 years and older, using the Gait Analysis System (LONGGOOD Meditech Ltd., Taipei, Taiwan), which automatically positions the human body and GaitBEST. GaitBEST is used for analyzing and calculating key timing points and displacement values from the Kinect detector as it captures the location of joint points and adjusts them to the program. After the gait testing, the result is displayed immediately. Each volunteer did not have any surgery that impacted their walking and signed a written informed consent statement before the study. The volunteers walked on a straight flat surface for 4.2 m, repeating the walking test five times at a self-determined comfortable speed. Subsequently, a comparative analysis of the gait parameter outcomes was performed using a parametric test by a t-test. The results showed the balance parameters of both groups significantly differed in the head sway range (p = 0.008), head tilt range (p = 0.018), and pelvis tilt range (p = 0.003). The younger group exhibited better postural control than the other group. The spatiotemporal parameters, stride length, and step length during walking were also significantly different at p = 0.001. This indicated that the older group had shorter lengths compared to the other group, leading to a significant difference in the percentage of falls and functional loss at p = 0.021 and 0.023, respectively. The result of this study assists in examining and assessing the physical condition, preventing falls, optimizing walking efficiency, preventing injuries, and reducing the falling risk. Full article

This study investigated the effects of different surface conditions on postural stability in response to unexpected perturbations. Thirty healthy adults underwent balance assessments on flat, incline ramp, balance pad, and balance pad on incline ramp surfaces. The center of pressure (COP) displacement in the mediolateral (ML) and anteroposterior (AP) directions, the velocity, and the area were measured. We found that the flat and ramp conditions resulted in significantly lower COP ML (F(3, 87) = 38.272, p < 0.001, ηp² = 0.569) and AP displacements (F(3, 87) = 89.177, p < 0.001, ηp² = 0.755), velocity (F(3, 87) = 89.177, p < 0.001, ηp² = 0.755), and area (F(3, 87) = 52.659, p < 0.001, ηp² = 0.645) compared to the balance pad and balance pad on ramp conditions (p < 0.05). The use of a balance pad, particularly on a ramp, significantly increased all the COP measurements, suggesting greater challenges to postural control. Through these findings, we demonstrate the adaptability and limitations of the human postural control system in response to varying surface conditions and perturbations. Full article

Bipedal walking robots are advancing research by performing challenging human-like movements in complex environments. Particularly, wheeled-bipedal robots are used in many indoor environments by overcoming the speed and maneuverability limitations of bipedal walking robots without wheels. However, when both wheels lose contact with the ground, maintaining lateral balance becomes challenging, and there is an increased risk of toppling over. Furthermore, utilizing robotic arms similar to human arms, in addition to wheel-based balance, could enable more precise and stable control. In this paper, we develop a wheeled-bipedal robot that is able to jump and drive while also being able to cross its legs and balance on one leg (the OLEBOT). The OLEBOT is designed with a hand-fan-shaped end-effector capable of generating compensatory torque. By tilting the hand-fan-shaped end-effector in the opposite direction, OLEBOT achieves pitch control and single-leg balance. In jumping scenario, it imitates the arm movements of a person performing stationary high jumps, while utilizing a cam-based leg joint system to boost jump height. In addition, this paper develops a control architecture based on model predictive control (MPC) to ensure stable posture in driving, jumping, and one-legged balancing scenarios for OLEBOT. Finally, the experimental results demonstrate that OLEBOT is capable of maintaining a stable posture using a wheeled-bipedal system and achieving balance in a one-legged stance. Full article

When humanoid robots work in human environments, they are prone to falling. However, when there are objects around that can be utilized, humanoid robots can leverage them to achieve balance. To address this issue, this paper established the state equation of a robot using a variable height-inverted pendulum model and implemented online trajectory optimization using model predictive control. For the arms’ optimal joint angles during movement, this paper took the distributed polygon method to calculate the arm postures. To ensure that the robot reached the target position smoothly and rapidly during its motion, this paper adopts a whole-body motion control approach, establishing a cost function for multi-objective constraints on the robot’s movement. These constraints include whole-body dynamics, center of mass constraints, arm’s end effector constraints, friction constraints, and center of pressure constraints. In the simulation, four sets of methods were compared, and the experimental results indicate that compared to free fall motion, adopting the method proposed in this paper reduces the maximum acceleration of the robot when it touches the wall to 69.1 m/s², effectively reducing the impact force upon landing. Finally, in the actual experiment, we positioned the robot 0.85 m away from the wall and applied a forward pushing force. We observed that the robot could stably land on the wall, and the impact force was within the range acceptable to the robot, confirming the practical effectiveness of the proposed method. Full article

The global aging population faces significant health challenges, including an increasing vulnerability to disability due to natural aging processes. Wearable lower limb exoskeletons (LLEs) have emerged as a promising solution to enhance physical function in older individuals. This systematic review synthesizes the use of LLEs in alignment with the WHO’s healthy aging vision, examining their impact on intrinsic capacities and functional abilities. We conducted a comprehensive literature search in six databases, yielding 36 relevant articles covering older adults (65+) with various health conditions, including sarcopenia, stroke, Parkinson’s Disease, osteoarthritis, and more. The interventions, spanning one to forty sessions, utilized a range of LLE technologies such as Ekso^®, HAL^®, Stride Management Assist^®, Honda Walking Assist^®, Lokomat^®, Walkbot^®, Healbot^®, Keeogo Rehab^®, EX1^®, overground wearable exoskeletons, Eksoband^®, powered ankle–foot orthoses, HAL^® lumbar type, Human Body Posturizer^®, Gait Enhancing and Motivation System^®, soft robotic suits, and active pelvis orthoses. The findings revealed substantial positive outcomes across diverse health conditions. LLE training led to improvements in key performance indicators, such as the 10 Meter Walk Test, Five Times Sit-to-Stand test, Timed Up and Go test, and more. Additionally, enhancements were observed in gait quality, joint mobility, muscle strength, and balance. These improvements were accompanied by reductions in sedentary behavior, pain perception, muscle exertion, and metabolic cost while walking. While longer intervention durations can aid in the rehabilitation of intrinsic capacities, even the instantaneous augmentation of functional abilities can be observed in a single session. In summary, this review demonstrates consistent and significant enhancements in critical parameters across a broad spectrum of health conditions following LLE interventions in older adults. These findings underscore the potential of LLE in promoting healthy aging and enhancing the well-being of older adults. Full article

Understanding the behavior of the human postural system has become a very attractive topic for many researchers. This system plays a crucial role in maintaining balance during both stationary and moving states. Parkinson’s disease (PD) is a prevalent degenerative movement disorder that significantly impacts human stability, leading to falls and injuries. This research introduces an innovative approach that utilizes a hidden Markov model (HMM) to distinguish healthy individuals and those with PD. Interestingly, this methodology employs raw data obtained from stabilometric signals without any preprocessing. The dataset used for this study comprises 60 subjects divided into healthy and PD patients. Impressively, the proposed method achieves an accuracy rate of up to 98% in effectively differentiating healthy subjects from those with PD. Full article

In this paper, we present a study on transferring human motions to a humanoid robot for stable and precise task execution. We employ a whole-body motion imitation system that considers the stability of the robot to generate a stable reproduction of the demonstrated motion. However, the initially acquired motions are usually suboptimal. To successfully perform the desired tasks, the transferred motions require refinement through reinforcement learning to accommodate the differences between the human demonstrator and the humanoid robot as well as task constraints. Our experimental evaluation investigates the impact of different cost function terms on the overall task performance. The findings indicate that the selection of an optimal combination of weights included in the cost function is of great importance for learning precise reaching motions that preserve both the robot’s postural balance and the human-like shape of the demonstrated motions. We verified our methodology in a simulated environment and through tests on a real humanoid robot, TALOS. Full article

Background: The correspondence between various aspects of human postural parameters and the spatial relation of the jaws is of increasing interest among scientists. Emerging research suggests that the stomatognathic system and posture play, in a broad sense, significant roles. Objectives: The aim of the study was to analyze the relationship between various malocclusion types and gait parameters, the distribution of foot pressure on the ground, and body balance. Methods: The study involved 155 patients aged 12-16. The subjects were divided into groups according to their malocclusion—Angle’s class II (n = 32), Canine class II (n = 31), and Overbite (n = 46). The control group (n = 46) comprised children not demonstrating any defects. The study data were collected by direct observation of the oral cavity. Gait analysis was carried out using the Wiva^® Science sensor, and the distribution of foot forces on the ground and body balance was determined via the E.P.S R/1 pedobarographic mat. The non-parametric Mann–Whitney U test was applied for statistical analysis. Results: Analysis of the results obtained showed statistically significant differences in left step duration (p = 0.042) and the duration of the right step (p = 0.021), as well as the projection of the body’s center of gravity on the left foot (p = 0.027). Conclusions: Distoocclusion in the anterior part of the mandible may cause different positioning of the head and neck, as well as varying tension of the muscles, further leading to balance disorders while walking. Full article

The temporoparietal junction (TPJ), which integrates visual, somatosensory, and vestibular information to form body schema, is involved in human postural control. We evaluated whether or not the transcranial direct current stimulation (tDCS) of the TPJ can modulate postural control on an unstable surface with eyes closed, during which the updating of body schema is needed to maintain balance. Sixteen healthy subjects participated in this study. The order of the three types of tDCS (anodal, cathodal, and sham) over the right TPJ was counterbalanced across the participants. We evaluated dynamic posture control while the participants were standing on a stable surface with eyes open and an unstable surface with eyes closed. Anodal tDCS enhanced postural control on an unstable surface with eyes closed during and after stimulation, but cathodal tDCS deteriorated postural control during stimulation. Neither anodal nor cathodal tDCS altered postural control while the participants were on a stable surface with eyes open. Anodal tDCS may enhance postural control with non-vision and altered tactile perception by activating the TPJ, which integrates multisensory inputs to update the body schema, whereas cathodal tDCS has the opposite effect. tDCS over the TPJ may facilitate the updating of body schemas to accommodate changes in sensory inputs and help develop novel approaches to prevent falls. Full article

(1) Background: Human balance and equilibrium-maintaining abilities have been widely researched up to this day. Numerous publications have investigated the possibilities of enhancing these abilities, bringing the patient back to their original capabilities post-disease or accident, and training for fall prevention. Virtual reality technology (VR) is becoming a progressively more renowned technique for performing or enhancing rehabilitation or training. We aimed to explore whether the introduction of scenery oscillation can influence a person’s limits of stability. (2) Methods: Sixteen healthy adults participated in measurements. Each of them underwent 10 trials, during which subjects were supposed to, on acoustic cue, lean as far forward and back as possible, without raising their heels or toes. Two trials were conducted without the use of VR, four with oscillating scenery, one with stationary scenery, one with displayed darkness, and two trials were performed for reference, which did not require leaning nor used VR technology. (3) Results: For the total as well as for each foot separately, COP displacements and velocities were calculated and analyzed. A post-hoc Wilcoxon pairwise test with Holm’s correction was performed, resulting in 420 returned p-values, 4 of which indicated significant differences between medians when comparing trials with 0.2 Hz oscillating scenery with trials with eyes open and closed. (4) Conclusions: No statistically significant differences at α = 0.05 between reached maximums in trials using VR and trials without it were found, only trials using 0.2 Hz oscillations displayed statistically significant differences when comparing velocities of leaning. The authors believe that such oscillations resemble naturally occurring tinnitus; additionally, low-frequency oscillations are believed to influence postural balance more than high-frequency ones, therefore affecting the velocity and displacements of COP the most. Full article

Background: Several exercise methods with virtual reality devices have been used in treatments for older adults and patients with neurodegenerative diseases, although the mechanisms continue to be elucidated. The aim of this study is to establish the feasibility and effectiveness of a rehabilitation programme using low-cost virtual reality aimed at improving postural balance in older adults. It also seeks to compare low-cost virtual reality under two delivery modalities, telerehabilitation (TR) in elderly centres and face-to-face (FtF) in rehabilitation centres. Methods: The study is set up as a non-inferiority two-arm parallel triple-blind randomised controlled clinical trial. Sixteen persons aged 65 to 75-years-old will be included. Eighteen Wii therapy sessions (25–30 min) will be provided through both FtF (control group, n = 8) and TR (exposure group, n = 8), both with a Nintendo Wii balance board. Data will be collected at baseline (week 0), during the Wii therapy sessions (weeks 2, 4, and 6), and during the follow-up (weeks 8 and 10). The primary outcome will be the area of centre-of-pressure (CoP) sway; secondary outcomes will be medial–lateral and anterior–posterior velocity and standard deviation of CoP; and tertiary outcomes will be clinical measures: single-leg stand, timed up-and-go tests, Barthel Index, and Tinetti’s scale. Statistical analyses will be performed using SPSS 20.00 for Windows. The trial adheres to the Declaration of Helsinki and the Chilean laws of rights and duties of the patient and research in humans. Ethical approval was obtained from the Ethics Committee of the University of Talca. Written informed consent will be obtained from participants. Discussion: In this trial, older adults from a Chilean city with a large rural and underserved population share will be included to test the feasibility and effectiveness of a rehabilitation programme using low-cost VR aimed at improving postural balance to generate evidence to support decision makers generating public health policy. Trial registration: Australian New Zeeland Clinical Trials Registration (ACTRN12621001380886). Full article

Background: The field of veterinary medicine lacks information on equine thermal hoof printing, and few data on the same subject are available in dogs. In human medicine, thermography is used to detect heat emitted by the foot when it comes in contact with a flat surface to detect the abnormalities of the foot balance. The hypothesis states that the thermal pattern of the hoof print in Warmblood horses is detectable and it does not vary among the four limbs in leisure and cross-country Warmblood horses in terms of mean temperature of the hoof print surface. A pilot study was conducted to investigate the accuracy of thermography in temperature detection of the hoof print and to investigate the occurrence of possible differences in the mean value of six selected areas and whether there are any differences in the mean temperature of the hoof print between leisure and cross-country Warmblood horses. Methods: The study included sixty non-lame Warmblood horses with all limbs taken into consideration (n = 240). The selection criteria for the horses were: no alterations in posture and no muscle group asymmetry during visual examination, no lateral or medial deviation of the carpus or hock, no reaction to the flexion tests, negative reactions to the hoof tester, no lameness during walking, trotting or lunging, no anti-inflammatory medication in the last three weeks prior to examination and rectal temperature between 37 °C and 38 °C. The hoof print of each hoof was measured with the horse in the standing position, all four limbs on the ground, using a FLIR E50 thermal camera. Six areas of temperature from the hoof print were taken into consideration, and for each of them, the mean value was identified using FLIR Tools software for photo interpretation. The One-Way ANOVA test was used to test the differences between the mean temperatures obtained for each selected area from all limbs and to compare the hoof print temperature values between the leisure horses and cross-country horses. Data were statistically processed using SAS Studio. Results: Thermography can detect the temperature emitted by the hoof but the thermal patterns of the hoof print show no difference for all four studied limbs. No significant statistical differences were noticed between the mean temperatures identified for each studied area. Also, there were no statistical differences between the mean temperature of the selected areas from the forelimbs and hindlimbs from the horses used for leisure and those used for cross-country. Based on this aspect, the mean temperature of one selected area can be determined in any of the four limbs, without visible variations. Conclusions: Thermography can detect the hoof print on a flat surface and the mean temperature for each studied area can be proposed as a reference temperature value. There were no differences in the mean temperature of the hoofprint between leisure and cross-country Warmblood Horses. Further investigations are required to clarify whether there are any differences in the thermal pattern of hoof prints from other breeds or from horses with musculoskeletal conditions. Full article

The restricted posture and unrestricted compliance brought by the controller during human–exoskeleton interaction (HEI) can cause patients to lose balance or even fall. In this article, a self-coordinated velocity vector (SCVV) double-layer controller with balance-guiding ability was developed for a lower-limb rehabilitation exoskeleton robot (LLRER). In the outer loop, an adaptive trajectory generator that follows the gait cycle was devised to generate a harmonious hip–knee reference trajectory on the non-time-varying (NTV) phase space. In the inner loop, velocity control was adopted. By searching the minimum L2 norm between the reference phase trajectory and the current configuration, the desired velocity vectors in which encouraged and corrected effects can be self-coordinated according to the L2 norm were obtained. In addition, the controller was simulated using an electromechanical coupling model, and relevant experiments were carried out with a self-developed exoskeleton device. Both simulations and experiments validated the effectiveness of the controller. Full article