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
    PowerGrasp - Design and evaluation of a modular soft-robotic arm exosuit for industrial applications
    ( 2020)
    Goppold, Jean-Paul
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    Kuschan, Jan
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    Thiele, Gregor
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    Schmidt, H.
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    Krüger, Jörg
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    Hackbart, R.
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    Kostelnik, J.
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    Liebach, J.
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    Wolschke, M.
    Absence from work caused by overloading the musculoskeletal system lowers the life quality of the worker and gains unnecessary costs for both the employer and the health system. Classical (rigid link) body-worn exoskeletons can help to reduce critical loading but show many disadvantages, preventing exoskeletons from extensive use in industrial environment. The presented PowerGrasp system is a very robust modular softrobotic arm exosuit sting of robust fabric with embedded rubber tubes as pressure chambers and soft-electronics and who's design is capable to overcome the critical limiting factors of classical exoskeletons. By inflating the tubes via pressure-control valves, it is possible to vary the stiffness of the chambers, which can be effectively used to generate assisting forces and moments at human joints. By using a joint based pressure control, it is possible to decrease the physical demand of overhead working for the wearer. Although the system is designed for i ndustrial overhead assembly, it can also be used in rehabilitation, craftsmanship and construction due to its portable and stand-alone concept. For assessing the impact of the PowerGrasp system, the raise of about 50 percent was shown. Finally, an evaluation study of the overall system has been conducted, showing very high user acceptance and usability.
  • 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
    Design of a pressure sensitive matrix for analyzing direct haptic patient-therapist interaction in motor rehabilitation after stroke
    ( 2017)
    Pust, M.
    ;
    Ivanova, E.
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    Schmidt, H.
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    Krüger, J.
    Robot based therapy is one of the prevalent therapeutic approaches in motor stroke rehabilitation. It is often used in hospitals in combination with conventional therapy. In order to optimize human-robot interaction, we aim to investigate how a therapist physically supports patients during motor training of the upper extremities. This paper presents the design of a flexible textile sensor matrix, which measures the pressure exerted between therapist and patient during direct haptic interaction as well as the hand position and orientation in space. The matrix contains 144 sensors which enables measuring pressure intensity and localization of areas where the pressure is applied. The measurement matrix was evaluated with four healthy participants.
  • Publication
    User-centered design of a patient's work station for haptic robot-based telerehabilitation after stroke
    ( 2017)
    Ivanova, E.
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    Minge, M.
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    Schmidt, H.
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    Thüring, M.
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    Krüger, J.
    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 presents therapeutic requirements and early phases of the user-centered design process of the patient's work station as part of a novel robot-based system for motor telerehabilitation.
  • Publication
    Computerised mirror therapy with Augmented Reflection Technology for early stroke rehabilitation
    ( 2017)
    Hoermann, S.
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    Santos, L.F. dos
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    Morkisch, N.
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    Jettkowski, K.
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    Sillis, M.
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    Devan, H.
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    Kanagasabai, P.S.
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    Schmidt, H.
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    Krüger, J.
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    Dohle, C.
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    Regenbrecht, H.
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    Hale, L.
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    Cutfield, N.J.
    Purpose: New rehabilitation strategies for post-stroke upper limb rehabilitation employing visual stimulation show promising results, however, cost-efficient and clinically feasible ways to provide these interventions are still lacking. An integral step is to translate recent technological advances, such as in virtual and augmented reality, into therapeutic practice to improve outcomes for patients. This requires research on the adaptation of the technology for clinical use as well as on the appropriate guidelines and protocols for sustainable integration into therapeutic routines. Here, we present and evaluate a novel and affordable augmented reality system (Augmented Reflection Technology, ART) in combination with a validated mirror therapy protocol for upper limb rehabilitation after stroke. Method: We evaluated components of the therapeutic intervention, from the patients' and the therapists' points of view in a clinical feasibility study at a rehabilitation centre. We also assessed the integration of ART as an adjunct therapy for the clinical rehabilitation of subacute patients at two different hospitals. Results: The results showed that the combination and application of the Berlin Protocol for Mirror Therapy together with ART was feasible for clinical use. This combination was integrated into the therapeutic plan of subacute stroke patients at the two clinical locations where the second part of this research was conducted. Conclusions: Our findings pave the way for using technology to provide mirror therapy in clinical settings and show potential for the more effective use of inpatient time and enhanced recoveries for patients.
  • 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.
    ;
    Hale, L.
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    Krüger, J.
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    Regenbrecht, H.
    ;
    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.