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
    Design of a pressure sensitive matrix for analyzing direct haptic patient-therapist interaction in motor rehabilitation after stroke
    ( 2017)
    Pust, M.
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    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
    Improved ergonomics via an intelligent movement and gesture detection jacket
    ( 2016)
    Kuschan, J.
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    Schmidt, H.
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    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
    Movement visualisation in virtual reality rehabilitation of the lower limb: A systematic review
    ( 2016)
    Ferreira dos Santos, L.
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    Christ, O.
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    Mate, K.
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    Schmidt, H.
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    Krüger, J.
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    Dohle, C.
    Background Virtual reality (VR) based applications play an increasing role in motor rehabilitation. They provide an interactive and individualized environment in addition to increased motivation during motor tasks as well as facilitating motor learning through multimodal sensory information. Several previous studies have shown positive effect of VR-based treatments for lower extremity motor rehabilitation in neurological conditions, but the characteristics of these VR applications have not been systematically investigated. The visual information on the user's movement in the virtual environment, also called movement visualisation (MV), is a key element of VR-based rehabilitation interventions. The present review proposes categorization of Movement Visualisations of VR-based rehabilitation therapy for neurological conditions and also summarises current research in lower limb application. Methods A systematic search of literature on VR-based intervention for gait and balance rehabilitation in neurological conditions was performed in the databases namely; MEDLINE (Ovid), AMED, EMBASE, CINAHL, and PsycInfo. Studies using non-virtual environments or applications to improve cognitive function, activities of daily living, or psychotherapy were excluded. The VR interventions of the included studies were analysed on their MV. Results In total 43 publications were selected based on the inclusion criteria. Seven distinct MV groups could be differentiated: indirect MV (N = 13), abstract MV (N = 11), augmented reality MV (N = 9), avatar MV (N = 5), tracking MV (N = 4), combined MV (N = 1), and no MV (N = 2). In two included articles the visualisation conditions included different MV groups within the same study. Additionally, differences in motor performance could not be analysed because of the differences in the study design. Three studies investigated different visualisations within the same MV group and hence limited information can be extracted from one study. Conclusions The review demonstrates that individuals' movements during VR-based motor training can be displayed in different ways. Future studies are necessary to fundamentally explore the nature of this VR information and its effect on motor outcome.
  • 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.
    ;
    Sillis, M.
    ;
    Cutfield, N.J.
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    Schmidt, H.
    ;
    Hale, L.
    ;
    Krüger, J.
    ;
    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
    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.
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    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.