Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    PowerGrasp: Development Aspects for Arm Support Systems
    ( 2022)
    Goppold, J.-P.
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    Kuschan, J.
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    Schmidt, H.
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    Krüger, J.
    Exoskeletons can support workers on physically demanding tasks, but in industry they lack of acceptance. This contribution gives an insight into design aspects for upper body exoskeletons, especially how active exoskeletons for industrial applications differ from military and medical use-cases. To overcome typical rigid exoskeleton problems, we suggest the use of modular soft-exosuit support systems and therefore checked different types of soft actuation principles for their eligibility for the use on upper body joints. Most promising approach is using two-layered actuators sting of robust fabric with embedded rubber tubes as pressure chambers. By inflating the tubes, it is possible to vary the stiffness of the chambers, which can be effectively used to generate assisting forces and moments at human joints (shoulder, elbow, wrist, finger).
  • Publication
    Let's do this together: Bi-Manu-Interact, a novel device for studying human haptic interactive behavior
    ( 2017)
    Ivanova, E.
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    Krause, A.
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    Schälicke, M.
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    Schellhardt, F.
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    Jankowski, N.
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    Achner, J.
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    Schmidt, H.
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    Joebges, M.
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    Krüger, J.
    Our area of interest is robotic-based rehabilitation after stroke, and our goal is to help patients achieve optimal motor learning during high-intensity repetitive movement training through the assistance of robots. It is important, that the robotic assistance is adapted to the patients' abilities, thereby ensuring that the device is only supporting the patient as necessary ('assist-as-needed'). We hypothesize that natural and learning-effective human-machine interaction can be achieved by programming the robot's control, so that it emulates how a physiotherapist adaptively supports the patients' limb movement during stroke rehabilitation. This paper introduces the design of a novel interactive device Bi-Manu-Interact. This device is suited to be used as an experimental setup for the investigation of haptic human-human interaction and for collecting data to model therapists' haptic behavior. In this paper, we present mechanical and sensory specifications as well as task s visualizations for future investigations. Results of a pilot clinical evaluation of the Bi-Manu-Interact with nine stroke patients are also presented in this work.
  • Publication
    Improved ergonomics via an intelligent movement and gesture detection jacket
    ( 2016)
    Kuschan, J.
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    Schmidt, H.
    ;
    Krüger, J.
    This Paper presents an intelligent ortheses-vest, developed in respect of usability aspects to increase the ergonomic working conditions, especially in physical hard working conditions like the field of industry or healthcare. In the process of development all relevant issues from usability and user requirements to constructing realization to an intelligent multisensor-, signal processing and motion tracking were considered and presented in this paper. The major focus is in the field of motion recognition a method is presented where the current movement is compared to a non-linear regression of a single motion. The purpose is to have automatic information about the ergonomic quality. The user gets feedback about his quality of movement from a configurable, easy to use, vest integrated, multimodal system in real-time.
  • Publication
    Nutzerzentrierte Gestaltung von VR-Systemen für die motorische Neurorehabilitation
    ( 2015)
    Lutz, O.H.-M.
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    Schmidt, H.
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    Krüger, J.
    Anhand eines Systems zur motorischen Neurorehabilitation nach Schlaganfall, das darauf abzielt, die Vorteile von Virtueller Realität für therapeutische Zwecke nutzbar zu machen, werden die Herausforderungen der nutzerzentrierten Gestaltung von Therapiesystemen mit Virtueller Realität an sich und im besonderen Maße bei der Einbeziehung von Patienten mit verschiedenen motorischen und perzeptiv-kognitiven Einschränkungen skizziert. Der Entwicklungsprozess erfolgt mehrstufig, wobei Methoden des nutzerzentrierten Designs auf Kompatibilität mit Einschränkungen von Patienten geprüft werden.
  • Publication
    Anforderungsanalyse für die nutzergerechte Gestaltung eines Bedienkonzepts für robotergestützte Telerehabilitationssysteme in der motorischen Schlaganfallrehabilitation
    ( 2015)
    Ivanova, E.
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    Freydank, E.
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    Achner, J.
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    Klemke, J.
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    Schrader, M.
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    Wernicke, S.
    ;
    Bryl, B.
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    Schauer, M.
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    Schmidt, H.
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    Jöbges, M.
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    Hesse, S.
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    Krüger, J.
    Die motorische Rehabilitationsbehandlung nach Schlaganfall ist sehr langwierig, eine Fortsetzung der Übungstherapiebehandlung nach Entlassung aus der Rehaklinik ist daher für jeden Patienten von großer Bedeutung für einen dauerhaften und nachhaltigen Therapieerfolg. Mangels geeigneter Möglichkeiten der häuslichen Therapiedurchführung und -unterstützung von Patienten, bestehen hierbei in der Praxis große Defizite. Eine Möglichkeit der Verbesserung dieser Situation bietet ein Telerehabilitationssystem. Dabei spielt ein intuitives Bedienkonzept, welches für den Patienten leicht verständlich und zugänglich ist, eine wichtige Rolle. In diesem Beitrag werden die Ergebnisse der therapeutischen Anforderungsanalyse an das multimodale robotergestützte System für motorische Rehabilitation nach Schlaganfall in häuslicher Umgebung dargestellt.
  • Publication
    Computerized mirror therapy with augmented reflection technology for stroke rehabilitation: A feasibility study in a rehabilitation center
    ( 2015)
    Hoermann, S.
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    Ferreira dos Santos, L.
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    Morkisch, N.
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    Jettkowski, K.
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    Sillis, M.
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    Cutfield, N.J.
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    Schmidt, H.
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    Hale, L.
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    Krüger, J.
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    Regenbrecht, H.
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    Dohle, C.
    New rehabilitation strategies for post-stroke upper limb rehabilitation employing visual stimulation show promising results. Cost-efficient ways to provide these techniques are still a challenge. Virtual and Augmented Reality Technologies could be suitable for this endeavor. Recent technological advances often are not translated into therapeutic practice and improved outcomes for patients because of a lack of research on their practical usage, coupled with the inexistence of appropriate guidelines and protocols. Here we present a novel and affordable augmented reality system that was developed and evaluated in combination with a validated mirror therapy protocol for upper limb rehabilitation after stroke. We evaluated the components of the therapeutic intervention from both the patients' and the therapists' points of view. In particular, we provide evidence that the combination and application of the Berlin Protocol for Mirror Therapy together with Augmented Reflection Technology is feasible for clinical use. This paves the way to a broader use of technically-supported mirror therapy with the possibility of higher therapy frequencies and enhanced recovery for patients.
  • Publication
    Design and concept of a haptic robotic telerehabilitation system for upper limb movement training after stroke
    ( 2015)
    Ivanova, E.
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    Krüger, J.
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    Steingräber, R.
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    Schmid, S.
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    Schmidt, H.
    ;
    Hesse, S.
    Robotic therapy devices have been an important part of clinical neurological rehabilitation for several years. Until now such devices are only available for patients receiving therapy inside rehabilitation hospitals. Since patients should continue rehabilitation training after hospital discharge at home, intelligent robotic rehab devices could help to achieve this goal. This paper proposes a novel multimodal home therapy concept and robot based system for motor telerehabilitation which is currently being further developed. The system is based on two haptic rehabilitation devices i) the Bi-Manu-Track (BMT) 2times1 DOF robotic haptic rehabilitation device with assist-as-needed control algorithms and ii) an enhanced version of the 3 DOF passive Reha-Slide system. The paper describes the technical system setup as well as user centered design aspects.
  • Publication
    Visualization of virtual reality neurological motor rehabilitation of the upper limb - A systematic review
    ( 2013)
    Santos, L.F. dos
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    Schmidt, H.
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    Krüger, J.
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    Dohle, C.
    Most virtual rehabilitation environments rely on visual feedback. However, little is known on the optimum characteristics of these feedbacks. Here, we present first results of a systematic literature review to assess and compare visual feedback types in virtual reality (VR) based neurological motor rehabilitation of the upper limb. Overall we identified 104 relevant publications. Within these some applied multiple visual feedback types. We found six main visualization groups: Avatar Feedback (N=52), Augmented Reality Feedback (N=16), Abstract Feedback (N=40), Tracking Feedback (N=13), Performance Evaluation Feedback (N=2), and Combined Feedback (N=7). However, there is insufficient evidence for the choice of a specific visual feedback in relation to motor outcome. Thus, further research is necessary.
  • Publication
    Optimal torque adaptation in bimanual assisted rehabilitation
    ( 2012)
    Steingräber, R.
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    Schmidt, H.
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    Krüger, J.
  • Publication
    Robot-assisted motor activation monitored by time-domain optical brain imaging
    ( 2011)
    Steinkellner, O.
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    Wabnitz, H.
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    Schmid, S.
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    Steingräber, R.
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    Schmidt, H.
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    Krüger, J.
    ;
    Macdonald, R.
    Robot-assisted motor rehabilitation proved to be an effective supplement to conventional hand-to-hand therapy in stroke patients. In order to analyze and understand motor learning and performance during rehabilitation it is desirable to develop a monitor to provide objective measures of the corresponding brain activity at the rehabilitation progress. We used a portable time-domain near-infrared reflectometer to monitor the hemodynamic brain response to distal upper extremity activities. Four healthy volunteers performed two different robot-assisted wrist/forearm movements, flexion-extension and pronation-supination in comparison with an unassisted squeeze ball exercise. A special headgear with four optical measurement positions to include parts of the pre- and postcentral gyrus provided a good overlap with the expected activation areas. Data analysis based on variance of time-of-flight distributions of photons through tissue was chosen to provide a suitable representati on of intracerebral signals. In all subjects several of the four detection channels showed a response. In some cases indications were found of differences in localization of the activated areas for the various tasks.