Robotics for Rehabilitation and Training Professor...
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Robotics for Rehabili Robotics for Rehabilit Robotics for Rehabili Robotics for Rehabilit Professor Professor Professor Professor Sunil Agrawal Sunil Agrawal Sunil Agrawal Sunil Agrawal (Department of Department of Department of Department of M M M M Active Leg Exoskeleton Active Leg Exoskeleton Active Leg Exoskeleton Active Leg Exoskeleton – ALEX ALEX ALEX ALEX II II II II With over 700,000 new strokes each year, of survivors still dealing with lingering such as reduced mobility and balance, str tation is an urgent need of our society. active leg exoskeleton is designed sp stroke rehabilitation. The exoskeleton mo patient’s paretic leg through a predefined and gently corrects deviations from a de path, chosen based on data of age and s healthy individuals. This takes advan brain’s neuroplasticity, encouraging pat learn their compensation strategies, whic long term negative effects. The exoskeleto tial in non-rehabilitation applications, su skills augmentation, virtual reality train ers. Active Leg Exoskeleton ALEX II [1] Babies Driving Robots Babies Driving Robots Babies Driving Robots Babies Driving Robots Mobility is an integral part of the explor a developing toddler undergoes. As bab through their environment, they learn ski further growth and development. Todd with reduced mobility, as a consequence such as cerebral palsy, spina-bifida, or co ditions, lack this opportunity. However, bot, with an appropriate control interface sidered as an extension of the child and pendent world exploration. A haptic forc ance algorithm encourages the toddlers ASME Dynamic Systems and Control Division, Bio-Systems an Publicity Chair & Newsletter Ed New itation and Training tation and Training itation and Training tation and Training Mechanical Engineering Mechanical Engineering Mechanical Engineering Mechanical Engineering, , , , Columbia Columbia Columbia Columbia University University University University) , and millions g aftereffects, roke rehabili- ALEX II, an pecifically for oves a stroke d gait pattern, esired preset size matched ntage of the tients to un- ch often carry on has poten- uch as human ning, and oth- ration process bies navigate kills critical to dlers dealing e of diseases ongenital con- a mobile ro- e can be con- enable inde- ce field guid- to direct the robot’s control joystick in spe haptic cues greatly speeds the toddlers to master even tasks. In an improvement o interacting with the force fi tered the intricate task of n tered environment. These sk week following the initial tra A baby driving using a hapti Dr. Sunil Agr Department o bia Univers degree in Me University in dynamics, an Robotics and and Robotic (ROSE), whic undergraduat Dr. Agrawal’s current and past res NIH, and has focused on the design of system theoretic principles, computa optimization, design of novel rehabil rithms for functional rehabilitation of Dr. Agrawal’s research has resulted include an NSF Presidential Faculty 1994, a Bessel Prize from Alexander v Fellow of the ASME in 2004, a Hum 2007, and a Fellow of American Inst neering in 2016. Dr. Agrawal has graduated 22 PhD PhD students working with him. His refereed journal and conference paper tent applications. Dr. Agrawal served a in 2014. He served as the Chair of ASM in 2006 and Chair of ASME Mechanis He serves on editorial boards and prog sponsored journals and conferences foc itation engineering. nd Healthcare (BSHC) Technical Committee ditor: Ozkan Celik (Colorado School of Mines) wsletter Vol. 5 March 2016 ecific directions. The use of up learning, and enables n challenging navigational on previous work, toddlers ield guidance quickly mas- navigating through a clut- kills are retained at least a aining sessions. tic joystick interface [2]. rawal is currently a Professor in the of Mechanical Engineering at Colum- sity. Dr. Agrawal obtained his PhD echanical Engineering from Stanford n 1990 with emphasis on robotics, nd control. He currently directs the d Rehabilitation Laboratory (ROAR) Systems Engineering Laboratory ch have an active group of graduate, te, and post-doctoral researchers. search has been funded by NSF and intelligent machines using non-linear ational algorithms for planning and itation machines, and training algo- neural impaired adults and children. in several professional honors that Fellowship from the White House in von Humboldt Foundation in 2002, a mboldt U.S. Senior Scientist Award in titute of Medical and Biological Engi- D students and has an active group of research has resulted in close to 400 rs, 13 US patents, and 5 pending pa- as the Chair of ASME Design Division ME Mechanisms Technical Committee sms and Robotics Conference in 2005. gram committees of ASME and IEEE cused on robotics, control, and rehabil-
Transcript of Robotics for Rehabilitation and Training Professor...
Robotics for Rehabilitation and TrainingRobotics for Rehabilitation and TrainingRobotics for Rehabilitation and TrainingRobotics for Rehabilitation and TrainingProfessorProfessorProfessorProfessor Sunil AgrawalSunil AgrawalSunil AgrawalSunil Agrawal ((((Department of Department of Department of Department of Mechanical EngineeringMechanical EngineeringMechanical EngineeringMechanical Engineering Active Leg Exoskeleton Active Leg Exoskeleton Active Leg Exoskeleton Active Leg Exoskeleton –––– ALEXALEXALEXALEX IIIIIIII With over 700,000 new strokes each year, and millions of survivors still dealing with lingering aftereffectssuch as reduced mobility and balance, stroke rehabiltation is an urgent need of our society. ALEXactive leg exoskeleton is designed specifically for stroke rehabilitation. The exoskeleton moves a stroke patient’s paretic leg through a predefined gait pattern, and gently corrects deviations from a desiredpath, chosen based on data of age and size matched healthy individuals. This takes advantage of the brain’s neuroplasticity, encouraging patients to ulearn their compensation strategies, which often carry long term negative effects. The exoskeleton has potetial in non-rehabilitation applications, such as skills augmentation, virtual reality trainingers.
Active Leg Exoskeleton ALEX II [1] Babies Driving RobotsBabies Driving RobotsBabies Driving RobotsBabies Driving Robots Mobility is an integral part of the exploration process a developing toddler undergoes. As babies navigate through their environment, they learn skills critical to further growth and development. Toddlers with reduced mobility, as a consequence of such as cerebral palsy, spina-bifida, or congenital coditions, lack this opportunity. However, a mobile rbot, with an appropriate control interface can sidered as an extension of the child and pendent world exploration. A haptic force field guiance algorithm encourages the toddlers to direct the
ASME Dynamic Systems and Control Division, Bio-Systems and Healthcare (BSHC) Technical CommitteePublicity Chair & Newsletter Editor:
Newsletter Vol.
Robotics for Rehabilitation and TrainingRobotics for Rehabilitation and TrainingRobotics for Rehabilitation and TrainingRobotics for Rehabilitation and Training Mechanical EngineeringMechanical EngineeringMechanical EngineeringMechanical Engineering, , , , ColumbiaColumbiaColumbiaColumbia UniversityUniversityUniversityUniversity))))
each year, and millions of survivors still dealing with lingering aftereffects, such as reduced mobility and balance, stroke rehabili-
. ALEX II, an is designed specifically for
stroke rehabilitation. The exoskeleton moves a stroke leg through a predefined gait pattern,
a desired preset , chosen based on data of age and size matched
. This takes advantage of the patients to un-
learn their compensation strategies, which often carry The exoskeleton has poten-
rehabilitation applications, such as human reality training, and oth-
Mobility is an integral part of the exploration process a developing toddler undergoes. As babies navigate
their environment, they learn skills critical to further growth and development. Toddlers dealing with reduced mobility, as a consequence of diseases
or congenital con-tunity. However, a mobile ro-control interface can be con-
sidered as an extension of the child and enable inde-force field guid-
ance algorithm encourages the toddlers to direct the
robot’s control joystick in specific directions. The use of haptic cues greatly speeds the toddlers to master even challenging navigational tasks. In an improvement on previous work, toddlers interacting with the force field guidtered the intricate task of navigating tered environment. These skills are retained at least a week following the initial training sessions.
A baby driving using a haptic joystick interface
Dr. Sunil AgrawalDepartment of Mechanical Engineering at bia Universitydegree in Mechanical Engineering from Stanford University in 1990 with emphasis on robotics, dynamics, and control. He currently directs the Robotics and Rehabilitation Laboratory (ROAR) and Robotic Systems Engine(ROSE), which have an active group ofundergraduate,
Dr. Agrawal’s current and past research has been funded by NSF and NIH, and has focused on the design of intelligent machines using system theoretic principles, computational algorithms for planning and optimization, design of novel rehabilitation machines, and training algrithms for functional rehabilitation of neural impaired adults and children. Dr. Agrawal’s research has resulted in several professional honors that include an NSF Presidential Faculty Fellowship from the White House in 1994, a Bessel Prize from Alexander von Humboldt Foundation in 2002, a Fellow of the ASME in 2004, a Humboldt U.S. Senior Scientist Award2007, and a Fellow of American Institute of Medical and Biological Engneering in 2016. Dr. Agrawal has graduated 22 PhD students PhD students working with him. His research has resulted in close to refereed journal and conference papers, tent applications. Dr. Agrawal served as the Chairin 2014. He served as the Chair of ASME Mechanisms Technical Committee in 2006 and Chair of ASME Mechanisms and Robotics Conference in 2005. He serves on editorial boards and program committees of ASME and IEEE sponsored journals and conferences focused on robotics,itation engineering.
Systems and Healthcare (BSHC) Technical Committee Publicity Chair & Newsletter Editor: Ozkan Celik (Colorado School of Mines)
Newsletter Vol. 5
March 2016
robot’s control joystick in specific directions. The use of up learning, and enables
the toddlers to master even challenging navigational ent on previous work, toddlers
interacting with the force field guidance quickly mas-the intricate task of navigating through a clut-
tered environment. These skills are retained at least a week following the initial training sessions.
g using a haptic joystick interface [2].
Sunil Agrawal is currently a Professor in the Department of Mechanical Engineering at Colum-
University. Dr. Agrawal obtained his PhD degree in Mechanical Engineering from Stanford University in 1990 with emphasis on robotics, dynamics, and control. He currently directs the Robotics and Rehabilitation Laboratory (ROAR) and Robotic Systems Engineering Laboratory (ROSE), which have an active group of graduate, undergraduate, and post-doctoral researchers.
Dr. Agrawal’s current and past research has been funded by NSF and focused on the design of intelligent machines using non-linear
system theoretic principles, computational algorithms for planning and optimization, design of novel rehabilitation machines, and training algo-rithms for functional rehabilitation of neural impaired adults and children.
s resulted in several professional honors that include an NSF Presidential Faculty Fellowship from the White House in 1994, a Bessel Prize from Alexander von Humboldt Foundation in 2002, a
a Humboldt U.S. Senior Scientist Award in , and a Fellow of American Institute of Medical and Biological Engi-
PhD students and has an active group of . His research has resulted in close to 400
refereed journal and conference papers, 13 US patents, and 5 pending pa-as the Chair of ASME Design Division
served as the Chair of ASME Mechanisms Technical Committee in 2006 and Chair of ASME Mechanisms and Robotics Conference in 2005.
on editorial boards and program committees of ASME and IEEE sponsored journals and conferences focused on robotics, control, and rehabil-
Cable Cable Cable Cable Driven Arm Exoskeleton Driven Arm Exoskeleton Driven Arm Exoskeleton Driven Arm Exoskeleton ---- CAREXCAREXCAREXCAREX Robotic rehabilitation is becoming ever more prevlent, with exoskeletons leading the way. In upper limb rehabilitation, the standard approach is to use an exskeleton consisting of mechanical joints, actuated by motors. CAREX, a cable driven arm exoskeletnovel idea where the links are replaced by cuffs and actuators by cables controlled under tensioners the weight of the system by nearly 20 timeslowered weight of the system enables increasingly terous and agile movements – especially in users deaing with limb weakness. A central challenge of cable driven exoskeletons is maintaining tension in the all of the cables during operation, requiring patient specific cable configurations.
Cable driven arm exoskeleton, CAREX [3]. ReferencesReferencesReferencesReferences 1. Srivastava, S., Kao, P., Kim, S.H., Stegall, P.,
Zanotto D., Higginson, J., Agrawal, S. K., Scholz, J. P., “Assist-as-needed Robot-aided Gait Training Improves Walking Function in Individuals Folowing Stroke”, IEEE Transactions on Neural Sytems and Rehabilitation Engineering, Vol. 23, No. 6, 2015, 956-963.
2. Chen, X., Ragonesi, C,, Galloway, J. C., and Agrawal, S. K., “Training Toddlers Seated on Mbile Robots to Drive Indoors among Obstacles”, IEEE Transactions on Neural Systems and Reh
ASME Dynamic Systems and Control Division, Bio-Systems and Healthcare (BSHC) Technical CommitteePublicity Chair & Newsletter Editor:
Newsletter Vol.
Robotic rehabilitation is becoming ever more preva-lent, with exoskeletons leading the way. In upper limb rehabilitation, the standard approach is to use an exo-skeleton consisting of mechanical joints, actuated by motors. CAREX, a cable driven arm exoskeleton, is a
where the links are replaced by cuffs and under tension. This low-
ystem by nearly 20 times. The lowered weight of the system enables increasingly dex-
ially in users deal-ing with limb weakness. A central challenge of cable driven exoskeletons is maintaining tension in the all of the cables during operation, requiring patient specific
[3].
Srivastava, S., Kao, P., Kim, S.H., Stegall, P., Zanotto D., Higginson, J., Agrawal, S. K., Scholz,
aided Gait Training Improves Walking Function in Individuals Fol-
IEEE Transactions on Neural Sys-ms and Rehabilitation Engineering, Vol. 23, No.
Chen, X., Ragonesi, C,, Galloway, J. C., and Agrawal, S. K., “Training Toddlers Seated on Mo-bile Robots to Drive Indoors among Obstacles”, IEEE Transactions on Neural Systems and Reha-
bilitation Engineering, Vol. 19, No. 3, 2011, 271279,
3. Mao, Y., Jin, X., Dutta, G., and Agrawal, S. K., “Human Movement Training with a CableArm Exoskeleton (CAREX)on Neural Systems and Rehabilitation Engineeing, Vol. 23, No. 1, 2015, 73
BSHC NewsBSHC NewsBSHC NewsBSHC News
Dr. David Hoelzle (University of Notre Dame) ceived an NSF CAREER award"Manufacturing Tools for the Next Generation of Tisue Engineering, Manufacturing Education for the Next Generation of Engineershttps://www.nsf.gov/awardsearch/showAward?AWD_ID=1552358 Dr. Davide Piovesan, Director of the Biomedical Engneering Program at Gannon University, has beawarded the Cooney-Jackman Endowed Professoships from August, 2016 through 2017($75,000). The title of the grant is “buoyancy on patient movement initiationobjective of the grant is the construction of awater motion tracking system to understand and characterize the recovery process of stroke survivorduring aquatic-therapy. Ramin Bighamian (PhD Candidate/Advisor: JinHahn; University of Maryland, College Parklected one of 5 Finalists for the DSCC Best Student Paper Award at ASME Dynamic Systems and Control Conference (DSCC 2015) for the paper entitled “A Control-Oriented Model of Blood Volume Response to Hemorrhage and Fluid Resuscitation”.
Ramin Bighamian (PhD Candidate/Advisor: JinHahn) was selected as Future Faculty Fellow of the A. J. Clark School of Engineering at the University of Maryland, College Park.
BSHC PublicationsBSHC PublicationsBSHC PublicationsBSHC Publications 1) Ali Utku Pehlivan, Dylan Losey, and Marcia K. O’Malley, (2016) Minimal AssistController for Upper Limb Robotic Rehabilitation, IEEE Transactions on Robotics10.1109/TRO.2015.2503726\
Systems and Healthcare (BSHC) Technical Committee Publicity Chair & Newsletter Editor: Ozkan Celik (Colorado School of Mines)
Newsletter Vol. 5
March 2016
, Vol. 19, No. 3, 2011, 271-
Mao, Y., Jin, X., Dutta, G., and Agrawal, S. K., Human Movement Training with a Cable-driven Arm Exoskeleton (CAREX)”, IEEE Transactions on Neural Systems and Rehabilitation Engineer-
5, 73-83.
Dr. David Hoelzle (University of Notre Dame) has re-an NSF CAREER award for his project titled
Manufacturing Tools for the Next Generation of Tis-sue Engineering, Manufacturing Education for the Next Generation of Engineers" https://www.nsf.gov/awardsearch/showAward?AWD_I
Dr. Davide Piovesan, Director of the Biomedical Engi-neering Program at Gannon University, has been
Jackman Endowed Professoships from August, 2016 through 2017-18 academic years $75,000). The title of the grant is “The effect of water buoyancy on patient movement initiation.” The main objective of the grant is the construction of an under-water motion tracking system to understand and characterize the recovery process of stroke survivors
Ramin Bighamian (PhD Candidate/Advisor: Jin-Oh hn; University of Maryland, College Park) was se-
for the DSCC Best Student Paper Award at ASME Dynamic Systems and Control Conference (DSCC 2015) for the paper entitled “A
Oriented Model of Blood Volume Response to Hemorrhage and Fluid Resuscitation”.
Ramin Bighamian (PhD Candidate/Advisor: Jin-Oh Hahn) was selected as Future Faculty Fellow of the A. J. Clark School of Engineering at the University of
BSHC PublicationsBSHC PublicationsBSHC PublicationsBSHC Publications
Ali Utku Pehlivan, Dylan Losey, and Marcia K. O’Malley, (2016) Minimal Assist-as-Needed (mAAN) Controller for Upper Limb Robotic Rehabilitation, IEEE Transactions on Robotics, 32(1):113-124, doi:
\
2) Priyanshu Agarwal, Jonas Fox, Youngmok Yun, Marcia K. O’Malley, and Ashish D. Deshpande (2015) An Index finger exoskeleton with series elastic actution for rehabilitation: Design, control and perfomance characterization, International Journal of Rbotics Research (IJRR), 34: 1747-1772 doi: 10.1177/ 0278364915598388
3) J.D. Brown, A. Paek, M. Syed, M.K. O’Malley, P.A. Shewokis, J.L. Contreras-Vidal, R.B. Gillespie, and A.J. Davis (2015) An exploration of grip force regultion with a low-impedance myoelectric prosthesis feturing referred haptic feedback, Journal of Neural Egineering and Rehabilitation, 12(104): 10.1186/s12984-015-0098-1
4) Cassidy Duran, Sean Estrada, Marcia O’Malley, Malachi Sheahan, Murray Shames, Jason T Lee, and Jean Bismuth (2015) The model for Fundamentals oEndovascular Surgery (FEVS) successfully defines the competent endovascular surgeon, Journal of Vascular Surgery, 62(6):1660-1666e.3
5) Segura M., Coronado L.E. Maya M., Cardenas A. and Piovesan. D., Analysis of recoverable falls via Mcrosoft Kinect: Identification of third-order ankle dnamics, Journal of Dynamic Systems Measurement And Control, Special issue on Biomedical Sensing, Dnamics, and Control for Diagnostics, Treatment, and Rehabilitation, doi:10.1115/1.4032878
6) Piovesan D., Zaccariotto M., Bettanini C., Pertile M., Debei S., Design and Validation of a CarbonCollapsible Hinge For Space Applications: a Deployble Boom, ASME Journal of Mechanisms and Roboticsdoi:10.1115/1.4032271
7) Torab P., Piovesan D., Vibrations of Fractal Strutures: On the Non-Linearities of Damping by Brancing. ASME Journal of Nanotechnology in Engineering and Medicine, special issue on Fractal Engineering and Biomedicine, doi:10.1115/1.4032224
8) Narciso, C., Cowdrick, K. R., Zellmer, V., BritoRobinson, T., Brodskiy, P., Hoelzle, D. J., … Zartman, J. J. (2016). On-chip three-dimensional tissue histolgy for microbiopsies. Biomicrofluidics, 10(021101). doi: 10.1063/1.4941708 9) Xie, Y., Rustom, L. E., McDermott, A. M., Boerckel, J. D., Johnson, A. J. W., Alleyne, A. G., & Hoelzle, D.
ASME Dynamic Systems and Control Division, Bio-Systems and Healthcare (BSHC) Technical CommitteePublicity Chair & Newsletter Editor:
Newsletter Vol.
Youngmok Yun, Marcia K. O’Malley, and Ashish D. Deshpande (2015) An Index finger exoskeleton with series elastic actua-tion for rehabilitation: Design, control and perfor-
International Journal of Ro-2 doi: 10.1177/
3) J.D. Brown, A. Paek, M. Syed, M.K. O’Malley, P.A. Vidal, R.B. Gillespie, and
A.J. Davis (2015) An exploration of grip force regula-impedance myoelectric prosthesis fea-
Journal of Neural En-, 12(104): doi:
4) Cassidy Duran, Sean Estrada, Marcia O’Malley, Malachi Sheahan, Murray Shames, Jason T Lee, and Jean Bismuth (2015) The model for Fundamentals of Endovascular Surgery (FEVS) successfully defines the
Journal of Vascular
Segura M., Coronado L.E. Maya M., Cardenas A. and Piovesan. D., Analysis of recoverable falls via Mi-
order ankle dy-Journal of Dynamic Systems Measurement
Special issue on Biomedical Sensing, Dy-namics, and Control for Diagnostics, Treatment, and
., Bettanini C., Pertile M., Debei S., Design and Validation of a Carbon-Fiber Collapsible Hinge For Space Applications: a Deploya-
ASME Journal of Mechanisms and Robotics,
7) Torab P., Piovesan D., Vibrations of Fractal Struc-Linearities of Damping by Branch-
ASME Journal of Nanotechnology in Engineering , special issue on Fractal Engineering
Narciso, C., Cowdrick, K. R., Zellmer, V., Brito-., Brodskiy, P., Hoelzle, D. J., … Zartman,
dimensional tissue histolo-, 10(021101).
Xie, Y., Rustom, L. E., McDermott, A. M., Boerckel, J. D., Johnson, A. J. W., Alleyne, A. G., & Hoelzle, D.
J. (2016). Net shape fabrication of calcium phosphate scaffolds with multiple material domains. Biofabrication, 8(1), 015005.5090/8/1/015005
10) C.S. Kim, J.M. Ansermino, J.O. Hahn, “A Compaative Data-Based Modeling Study on Respiratory Gas Exchange,” Frontiers in Bioengineering and Biotecnology, Vol. 4, No. 8 (doi: 10.3389/fbioe.2016.00008).
11) R. Bighamian, S. Solemani, A.T. Reisner, I. Seri, J.O. Hahn, “Prediction of Hemodynamic Response to Epinephrine via Model-Based System Identification,” IEEE Journal of Biomedical and Health InformaticsVol. 20, No. 1, pp. 416-423, 2016.
12) C.S. Kim, A.M. Carek, R. Mukkamala, O.T. Inan, J.O. Hahn, “Ballistocardiogram as Proximal Timing Reference for Pulse Transit Time Measurement: Ptential for Cuffless Blood Pressure Monitoring,” Transactions on Biomedical Engineering11, pp. 2657-2664, November 2015 [Editor’s Choice Article in Science Translational Medicine].
GraduatesGraduatesGraduatesGraduates
Joshua Mehling (Advisor: Marcia K. O'Malley; Rice University) completed his PhD degree in Mechanical Engineering in December 2015. The title of his dissetation was "Impedance Control Approaches for Series Elastic Actuators". He is currently pline Lead - Robotic Controls at Center.
Systems and Healthcare (BSHC) Technical Committee Publicity Chair & Newsletter Editor: Ozkan Celik (Colorado School of Mines)
Newsletter Vol. 5
March 2016
J. (2016). Net shape fabrication of calcium phosphate scaffolds with multiple material domains.
, 8(1), 015005. doi: 10.1088/1758-
C.S. Kim, J.M. Ansermino, J.O. Hahn, “A Compar-Based Modeling Study on Respiratory Gas Frontiers in Bioengineering and Biotech-
, Vol. 4, No. 8 (doi: 10.3389/fbioe.2016.00008).
R. Bighamian, S. Solemani, A.T. Reisner, I. Seri, J.O. Hahn, “Prediction of Hemodynamic Response to
Based System Identification,” IEEE Journal of Biomedical and Health Informatics,
423, 2016.
Carek, R. Mukkamala, O.T. Inan, J.O. Hahn, “Ballistocardiogram as Proximal Timing Reference for Pulse Transit Time Measurement: Po-tential for Cuffless Blood Pressure Monitoring,” IEEE Transactions on Biomedical Engineering, Vol. 62, No.
November 2015 [Editor’s Choice Article in Science Translational Medicine].
(Advisor: Marcia K. O'Malley; Rice PhD degree in Mechanical
Engineering in December 2015. The title of his disser-Impedance Control Approaches for Series
". He is currently Technical Disci-Robotic Controls at NASA Johnson Space
