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  1. Article ; Online: Self-Aligning Finger Exoskeleton for the Mobilization of the Metacarpophalangeal Joint.

    Peperoni, Emanuele / Capitani, Stefano Laszlo / Fiumalbi, Tommaso / Capotorti, Eugenio / Baldoni, Andrea / Dell'Agnello, Filippo / Creatini, Ilaria / Taglione, Elisa / Vitiello, Nicola / Trigili, Emilio / Crea, Simona

    IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society

    2023  Volume PP

    Abstract: In the context of hand and finger rehabilitation, kinematic compatibility is key for the acceptability and clinical exploitation of robotic devices. Different kinematic chain solutions have been proposed in the state of the art, with different trade-offs ...

    Abstract In the context of hand and finger rehabilitation, kinematic compatibility is key for the acceptability and clinical exploitation of robotic devices. Different kinematic chain solutions have been proposed in the state of the art, with different trade-offs between characteristics of kinematic compatibility, adaptability to different anthropometries, and the ability to compute relevant clinical information. This study presents the design of a novel kinematic chain for the mobilization of the metacarpophalangeal (MCP) joint of the long fingers and a mathematical model for the real-time computation of the joint angle and transferred torque. The proposed mechanism can self-align with the human joint without hindering force transfer or inducing parasitic torque. The chain has been designed for integration into an exoskeletal device aimed at rehabilitating traumatic-hand patients. The exoskeleton actuation unit has a series-elastic architecture for compliant human-robot interaction and has been assembled and preliminarily tested in experiments with eight human subjects. Performance has been investigated in terms of (i) accuracy of the MCP joint angle estimation through comparison with a video-based motion tracking system, (ii) residual MCP torque when the exoskeleton is controlled to provide null output impedance and (iii) torque-tracking performance. Results showed a root-mean-square error (RMSE) below 5 degrees in the estimated MCP angle. The estimated residual MCP torque resulted below 7 mNm. Torque tracking performance shows an RMSE lower than 8 mNm in following sinusoidal reference profiles. The results encourage further investigations of the device in a clinical scenario.
    Language English
    Publishing date 2023-01-11
    Publishing country United States
    Document type Journal Article
    ZDB-ID 1166307-8
    ISSN 1558-0210 ; 1063-6528 ; 1534-4320
    ISSN (online) 1558-0210
    ISSN 1063-6528 ; 1534-4320
    DOI 10.1109/TNSRE.2023.3236070
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  2. Article ; Online: Identification of movement phenotypes from occupational gesture kinematics: Advancing individual ergonomic exposure classification and personalized training.

    Scalona, Emilia / De Marco, Doriana / Ferrari, Laura / Creatini, Ilaria / Taglione, Elisa / Andreoni, Giuseppe / Fabbri-Destro, Maddalena / Avanzini, Pietro / Lopomo, Nicola Francesco

    Applied ergonomics

    2023  Volume 115, Page(s) 104182

    Abstract: The identification of personalized preventive strategies plays a major role in contrasting the occurrence of work-related musculoskeletal disorders. This requires the identification of distinct movement patterns within large samples and the attribution ... ...

    Abstract The identification of personalized preventive strategies plays a major role in contrasting the occurrence of work-related musculoskeletal disorders. This requires the identification of distinct movement patterns within large samples and the attribution of a proper risk level to each identified movement phenotype. We assessed the feasibility of this approach by exploiting wearable inertial measurement units to estimate the whole-body kinematics of 43 healthy participants performing 18 reach-to-manipulate movements, which differed based on the object's position in the space and the type of manipulation required. Through unsupervised clustering, we identified multiple movement phenotypes graded by ergonomic performance. Furthermore, we determined which joints mostly contributed to instantiating the ergonomic differences across clusters, emphasizing the importance of monitoring this aspect during occupational gestures. Overall, our analysis suggests that movement phenotypes can be identified within occupational motor repertoires. Assigning individual performance to specific phenotypes has the potential to inform the development of more effective and tailored interventions.
    MeSH term(s) Humans ; Biomechanical Phenomena ; Gestures ; Ergonomics/methods ; Movement ; Musculoskeletal Diseases/prevention & control ; Occupational Diseases/prevention & control
    Language English
    Publishing date 2023-11-23
    Publishing country England
    Document type Journal Article
    ZDB-ID 2003513-5
    ISSN 1872-9126 ; 0003-6870
    ISSN (online) 1872-9126
    ISSN 0003-6870
    DOI 10.1016/j.apergo.2023.104182
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  3. Article ; Online: Positive effects of robotic exoskeleton training of upper limb reaching movements after stroke

    Frisoli Antonio / Procopio Caterina / Chisari Carmelo / Creatini Ilaria / Bonfiglio Luca / Bergamasco Massimo / Rossi Bruno / Carboncini Maria

    Journal of NeuroEngineering and Rehabilitation, Vol 9, Iss 1, p

    2012  Volume 36

    Abstract: Abstract This study, conducted in a group of nine chronic patients with right-side hemiparesis after stroke, investigated the effects of a robotic-assisted rehabilitation training with an upper limb robotic exoskeleton for the restoration of motor ... ...

    Abstract Abstract This study, conducted in a group of nine chronic patients with right-side hemiparesis after stroke, investigated the effects of a robotic-assisted rehabilitation training with an upper limb robotic exoskeleton for the restoration of motor function in spatial reaching movements. The robotic assisted rehabilitation training was administered for a period of 6 weeks including reaching and spatial antigravity movements. To assess the carry-over of the observed improvements in movement during training into improved function, a kinesiologic assessment of the effects of the training was performed by means of motion and dynamic electromyographic analysis of reaching movements performed before and after training. The same kinesiologic measurements were performed in a healthy control group of seven volunteers, to determine a benchmark for the experimental observations in the patients’ group. Moreover degree of functional impairment at the enrolment and discharge was measured by clinical evaluation with upper limb Fugl-Meyer Assessment scale (FMA, 0–66 points), Modified Ashworth scale (MA, 0–60 pts) and active ranges of motion. The robot aided training induced, independently by time of stroke, statistical significant improvements of kinesiologic (movement time, smoothness of motion) and clinical (4.6 ± 4.2 increase in FMA, 3.2 ± 2.1 decrease in MA) parameters, as a result of the increased active ranges of motion and improved co-contraction index for shoulder extension/flexion. Kinesiologic parameters correlated significantly with clinical assessment values, and their changes after the training were affected by the direction of motion (inward vs. outward movement) and position of target to be reached (ipsilateral, central and contralateral peripersonal space). These changes can be explained as a result of the motor recovery induced by the robotic training, in terms of regained ability to execute single joint movements and of improved interjoint coordination of elbow and shoulder joints.
    Keywords Upper extremity hemiparesis ; Stroke ; Robot-aided rehabilitation ; Motor synergies ; Neurosciences. Biological psychiatry. Neuropsychiatry ; RC321-571 ; Internal medicine ; RC31-1245 ; Medicine ; R ; DOAJ:Neurology ; DOAJ:Medicine (General) ; DOAJ:Health Sciences ; DOAJ:Internal medicine
    Subject code 796
    Language English
    Publishing date 2012-06-01T00:00:00Z
    Publisher BioMed Central
    Document type Article ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  4. Article ; Online: Positive effects of robotic exoskeleton training of upper limb reaching movements after stroke.

    Frisoli, Antonio / Procopio, Caterina / Chisari, Carmelo / Creatini, Ilaria / Bonfiglio, Luca / Bergamasco, Massimo / Rossi, Bruno / Carboncini, Maria Chiara

    Journal of neuroengineering and rehabilitation

    2012  Volume 9, Page(s) 36

    Abstract: This study, conducted in a group of nine chronic patients with right-side hemiparesis after stroke, investigated the effects of a robotic-assisted rehabilitation training with an upper limb robotic exoskeleton for the restoration of motor function in ... ...

    Abstract This study, conducted in a group of nine chronic patients with right-side hemiparesis after stroke, investigated the effects of a robotic-assisted rehabilitation training with an upper limb robotic exoskeleton for the restoration of motor function in spatial reaching movements. The robotic assisted rehabilitation training was administered for a period of 6 weeks including reaching and spatial antigravity movements. To assess the carry-over of the observed improvements in movement during training into improved function, a kinesiologic assessment of the effects of the training was performed by means of motion and dynamic electromyographic analysis of reaching movements performed before and after training. The same kinesiologic measurements were performed in a healthy control group of seven volunteers, to determine a benchmark for the experimental observations in the patients' group. Moreover degree of functional impairment at the enrolment and discharge was measured by clinical evaluation with upper limb Fugl-Meyer Assessment scale (FMA, 0-66 points), Modified Ashworth scale (MA, 0-60 pts) and active ranges of motion. The robot aided training induced, independently by time of stroke, statistical significant improvements of kinesiologic (movement time, smoothness of motion) and clinical (4.6 ± 4.2 increase in FMA, 3.2 ± 2.1 decrease in MA) parameters, as a result of the increased active ranges of motion and improved co-contraction index for shoulder extension/flexion. Kinesiologic parameters correlated significantly with clinical assessment values, and their changes after the training were affected by the direction of motion (inward vs. outward movement) and position of target to be reached (ipsilateral, central and contralateral peripersonal space). These changes can be explained as a result of the motor recovery induced by the robotic training, in terms of regained ability to execute single joint movements and of improved interjoint coordination of elbow and shoulder joints.
    MeSH term(s) Adult ; Aged ; Biomechanical Phenomena ; Electromyography ; Female ; Humans ; Male ; Middle Aged ; Psychomotor Performance/physiology ; Robotics/instrumentation ; Robotics/methods ; Stroke Rehabilitation ; Upper Extremity/physiology
    Language English
    Publishing date 2012-06-09
    Publishing country England
    Document type Clinical Trial ; Journal Article ; Research Support, Non-U.S. Gov't
    ISSN 1743-0003
    ISSN (online) 1743-0003
    DOI 10.1186/1743-0003-9-36
    Database MEDical Literature Analysis and Retrieval System OnLINE

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