Intelligent systems and technologies in rehabilition engineering

Title:

Publication Information:

Boca Raton, FL : CRC Press, 2001

ISBN:

9780849301407

Subject Term:

Rehabilitation technology

Self-help devices for the disabled

Artificial intelligence

Added Author:

Teodorescu, Horia-Nicolai L.

Jain, Lakhmi C.

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Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010124902	RM950 I57 2001	Open Access Book	Book	Searching... Unknown

Prostheses, assistive systems, and rehabilitation systems are essential to increasing the quality of life for people with disabilities. Research and development over the last decade has resulted in enormous advances toward that goal-none more so than the development of intelligent systems and technologies.

In the first truly comprehensive book addressing intelligent technologies for the disabled, top experts from around the world provide an overview of this dynamic, rapidly evolving field. They present state-of-the-art information on the latest, innovative technologies and their applications in various systems designed to better the lives of the disabled.

From the underlying principles to the design, practical applications, and assessment of results, Intelligent Systems and Technologies in Rehabilitation Engineering offers broad, pragmatic coverage of the field. It incorporates the most recent advances in sensory and limb prostheses, myoelectric control systems, circulatory systems, assistive technologies, and applications of virtual reality.

Rapid progress demands a concerted effort to keep up with the latest developments so they can begin to serve their purpose and improve the lives of the disabled. By incorporating details of the latest and most important advances into one volume, Intelligent Systems and Technologies in Rehabilitation Engineering makes that undertaking essentially effortless.

Horia-Nicolai TeodorescuWentai Liu and Elliot McGucken and Ralph Cavin and Mark Clements and Kasin Vichienchom and Chris Demarco and Mark Humayun and Eugene de Juan and James Weiland and Robert GreenbergChristian Berger-VachonDaniela Zambarbieri and Micaela Schmid and Gennaro VerniKevin Englehart and Bernard Hudgins and Philip ParkerWarren M. GrillAndrea Tura and Angelo Davalli and Rinaldo Sacchetti and Claudio Lamberti and Claudio BoniventoTadashi Kitamura and Ken 'ichi AsamiHarish Aiyar and J. Thomas MortimerRodica Strungaru and Stefan PopescuMitch Wilkes and Anthony Alford and Todd Pack and Tamara Rogers and Edward Brown, Jr. and Alan Peters, II and Kazuhiko KawamuraShraga Shoval and Iwan Ulrich and Johann BorensteinKenton R. Kaufmann and Steven E. Irby and Jeffrey Basford and David H. Sutherland

Preface
About the Editors
Contributors
Acknowledgments
Disclaimer
Part 1. Introduction
Chapter 1 New technologies in rehabilitation. General trends	p. 3
1. Introduction	p. 4
1.1. Generalities	p. 4
1.2. Techniques	p. 5
1.3. Global challenges	p. 6
2. Factors of development	p. 6
2.1. General factors	p. 6
2.2. The impact of the population age pattern changes	p. 8
2.3. Technology and medical-related factors	p. 9
2.4. Other factors favoring the use of new technologies in rehabilitation	p. 9
3. On terminology: moving borders between terms	p. 10
3.1. Terms: rehabilitation, assistive devices, and prostheses	p. 10
3.2. Levels of "intelligence" in new technologies	p. 12
4. Literature overview	p. 14
4.1. Medical-oriented journal papers	p. 14
4.2. Overview of the patent literature	p. 19
5. A brief discussion of patent literature	p. 22
6. Other examples of advanced techniques used in rehabilitation	p. 24
7. Conclusions	p. 25
References	p. 27
Part 2. Sensorial prostheses
Chapter 2 A retinal prosthesis to benefit the visually impaired	p. 31
1. Introduction	p. 32
1.1. Clinical research and motivation for a visual prosthesis	p. 32
1.2. A retinal prosthesis: engineering solution to biological problem	p. 36
2. The Multiple unit artificial retina chip (MARC) prosthesis	p. 38
2.1. Clinical and engineering overview	p. 38
2.1.1 Foundational clinical research	p. 38
2.1.2 Engineering overview: feasibility and significance of the MARC	p. 42
2.2. Prior art and related research	p. 43
2.3. Evolution of the MARC prosthesis	p. 45
3. Current engineering research	p. 46
3.1. Early generation chip	p. 46
3.2. Overall system functionality of advanced generations	p. 49
3.2.1 Advantages of the MARC system	p. 50
3.2.2 Advanced generation retina telemetric processing chips	p. 51
3.3. Implantable retinal chip	p. 53
3.3.1 Chip functionality	p. 53
3.3.2 Chip operation	p. 61
3.3.3 Measurement results	p. 63
3.3.4 Design enhancement	p. 69
3.4. Video camera and processing board	p. 70
3.4.1 Extraocular CMOS camera and video processing	p. 70
3.5. MARC RF telemetry	p. 72
3.6. Electrode array design	p. 78
3.6.1 The electrode array	p. 78
3.6.2 Current electrode array	p. 79
3.6.3 Substrate for electrode array	p. 79
3.6.4 Electrode materials and geometry	p. 81
3.6.5 Electrochemical evaluation of stimulating electrode arrays	p. 84
3.7. Bonding and packaging	p. 84
4. Conclusions	p. 87
References	p. 87
Chapter 3 Intelligent techniques in hearing rehabilitation	p. 93
1. Introduction	p. 94
1.1. Understanding models	p. 94
1.2. Influence of the pathology	p. 95
2. Auditory system	p. 96
2.1. Voice production	p. 96
2.2. Auditory system	p. 98
2.3. Auditory pathways	p. 99
2.4. Brain stage	p. 100
3. Normal (external) aids	p. 100
3.1. General principles	p. 100
3.2. Normal hearing aids	p. 100
3.3. Bone-integrated vibrator	p. 103
3.4. Middle ear aids	p. 104
3.5. Numeric revolution	p. 104
4. Cochlear implants	p. 105
4.1. General principles	p. 105
4.2. Australian Nucleus	p. 108
4.3. French Digisonic	p. 110
4.4. American Clarion	p. 112
4.5. Other systems	p. 114
4.6. Surrounding facilities	p. 115
4.7. New trends in research	p. 116
5. Future prospects	p. 120
5.1. Simulation of the pathology	p. 120
5.2. Classical simulations	p. 121
5.3. Discussion	p. 122
6. Conclusions	p. 123
References	p. 124
Part 3. Locomotor prostheses
Chapter 4 Sensory feedback for lower limb prostheses	p. 129
1. Introduction	p. 129
2. Theories of movement control	p. 130
2.1. Coordination between posture and movement	p. 131
2.2. The internal model	p. 132
3. Natural feedback	p. 133
3.1. Tactile sensation	p. 134
3.2. Proprioceptive sensation	p. 134
4. Artificial feedback	p. 135
5. Center of pressure	p. 136
5.1. Instrumentation for center of pressure (CP) evaluation	p. 136
5.1.1 Forceplates	p. 137
5.1.2 Sensorized insoles	p. 137
5.1.3 Telemetric acquisition of CP	p. 138
5.2. Normal trajectory of CP during walking	p. 139
6. Visual and auditory feedback	p. 142
6.1. Visual feedback	p. 142
6.2. Acoustic biofeedback	p. 142
7. Tactile and proprioceptive biofeedback	p. 143
8. A portable device for tactile stimulation	p. 144
8.1. The system	p. 144
8.2. Rehabilitation protocol	p. 146
9. Conclusions	p. 148
References	p. 149
Chapter 5 Multifunction control of prostheses using the myoelectric signal	p. 153
1. Introduction	p. 153
1.1. Externally powered prostheses	p. 153
1.2. Clinical impact	p. 155
2. Myoelectric control	p. 158
2.1. An overview	p. 158
2.2. Multifunction control research	p. 161
2.1.1 Control based on myoelectric statistical pattern recognition techniques: Temple University	p. 161
2.2.2 Control based on myoelectric statistical pattern recognition techniques: Swedish research	p. 163
2.2.3 Control based on myoelectric statistical pattern recognition techniques: UCLA research	p. 163
2.2.4 Endpoint control	p. 164
2.2.5 Extended physiological proprioception	p. 169
2.2.6 Modeling of musculo-skeletal dynamics	p. 170
2.2.7 Statistical features for control	p. 173
2.2.8 Autoregressive models	p. 176
2.2.9 Equilibrium-point control	p. 179
2.2.10 Pattern recognition-based control using the transient myoelectric signal	p. 181
2.3. Significant contributions of previous work	p. 186
3. Research directions	p. 188
3.1. Sequential control	p. 188
3.1.1 Signal acquisition	p. 189
3.1.2 Feature extraction	p. 190
3.1.3 Classifiers	p. 190
3.2. Simultaneous, coordinated control	p. 191
3.2.1 Trajectory generation	p. 192
3.2.2 Motion control	p. 195
3.3. Discussion	p. 198
References	p. 200
Chapter 6 Selective activation of the nervous system for motor system neural prostheses	p. 209
1. Introduction	p. 209
2. Fundamental considerations for neural prosthesis electrodes	p. 211
3. Approaches to the nervous system	p. 212
3.1. Muscle-based electrodes	p. 212
3.2. Nerve-based electrodes	p. 214
3.3. Anatomy of peripheral nerves	p. 216
3.4. Intraneural electrodes	p. 217
3.5. Epineural electrodes	p. 218
3.6. Cuff electrodes	p. 219
4. Conclusions and future prospects in motor system neural prostheses	p. 230
References	p. 231
Chapter 7 Upper limb myoelectric prostheses: sensory control system and automatic tuning of parameters	p. 243
1. The sensory control in upper limb prostheses	p. 243
2. A sensory control system for the Otto Bock prosthesis	p. 246
2.1. Involuntary feedback in a sensory control system	p. 246
2.2. The microcontroller card for the sensory control system	p. 247
2.3. The FSR sensors	p. 250
2.4. The "intelligent" hand: automatic touch	p. 251
2.5. The slipping problem: an optical sensor for motion detection	p. 252
2.6. Tests on the sensory control system	p. 256
2.7. Development of new sensors	p. 260
3. Automatic tuning of prosthesis parameters	p. 262
3.1. A fuzzy expert system for tuning parameters	p. 262
3.2. Parameters involved in the automatic tuning procedure	p. 263
3.3. Examples of rules of the fuzzy expert system	p. 264
3.4. The tele-assistance project	p. 267
4. Conclusions	p. 268
References	p. 269
Part 4. Pacemakers and life-sustaining devices
Chapter 8 Computer-aided support technologies for artificial heart control. Diagnosis and hemodynamic measurements	p. 273
1. Introduction	p. 274
2. Method	p. 276
2.1. Model reduction	p. 276
2.2. Interpretive structural modeling (ISM)	p. 278
3. System description	p. 280
3.1. Structure of the system	p. 280
3.2. Human model	p. 281
4. Indirect measurement technique	p. 283
4.1. Model identification	p. 283
4.2. Estimation technique	p. 286
5. Results and discussion	p. 287
5.1. Diagnostic aids	p. 287
5.2. Analytical and modeling aids	p. 290
5.3. Indirect measurement	p. 294
6. Conclusions	p. 297
References	p. 298
Chapter 9 Diaphragm pacing for chronic respiratory insufficiency	p. 301
1. Respiratory insufficiency	p. 302
1.1. Spinal cord injury	p. 303
1.2. Central hypoventilation syndrome	p. 305
2. Respiration	p. 306
2.1. Primary muscles	p. 308
2.2. Accessory muscles	p. 313
2.3. Inspiration and expiration	p. 315
3. Diaphragm pacing systems	p. 316
3.1. Prerequisites for diaphragm pacing	p. 317
3.2. Nerve electrodes	p. 318
3.3. Intramuscular electrodes	p. 326
3.4. Epimysial electrodes	p. 327
4. Alternatives to diaphragm pacing systems	p. 328
4.1. Mechanical ventilation	p. 329
4.2. Pharmacologic	p. 332
4.3. Rehabilitative	p. 332
4.4. Surgical intervention	p. 333
4.5. Magnetic stimulation	p. 334
4.6. Electrical stimulation of the intercostal muscles	p. 334
5. Conclusions and future direction	p. 335
References	p. 337
Chapter 10 Intelligent systems in heart pacemakers	p. 347
1. Pacemakers	p. 347
1.1. Introduction	p. 347
1.2. Classification of pacemakers	p. 349
1.3. Methods of adaptations to the demands of the body activity	p. 353
2. System requirements and design consideration for implementation of intelligent cardiac pacemakers	p. 356
2.1. Short introduction to fuzzy logic	p. 356
2.2. Hardware and software for fuzzy logic in medical applications	p. 358
2.2.1 Generalities	p. 358
2.2.2 A fuzzy microcontroller	p. 359
2.2.3 The fuzzy logic language	p. 360
2.3. Implementing a fuzzy controller for pacemakers	p. 360
2.4. Simulation of a fuzzy pacemaker	p. 365
2.5. Experimental results	p. 366
2.6. Conclusions	p. 369
3. Discussion	p. 370
Appendix Fu.L.L. program for the heart controller	p. 372
References	p. 374
Part 5. Robotic systems and advanced mechanics
Chapter 11 Service robots for rehabilitation and assistance	p. 381
1. Introduction	p. 381
1.1. Service robotics	p. 382
1.2. Human-machine interfacing and system integration	p. 382
1.3. System integration using agents	p. 383
1.4. Software architectures	p. 384
1.5. Intelligent machine architecture (IMA)	p. 385
1.6. Human directed local autonomy (HuDL)	p. 385
2. Historical background: software architectures in the IRL	p. 388
2.1. The previous architecture	p. 388
2.2. Shortcomings of the previous approach	p. 389
2.2.1 Motivations	p. 389
2.2.2 Pitfalls of the past	p. 389
2.2.3 The problem of interfaces	p. 389
2.2.4 The problem of streams	p. 390
2.2.5 The problem of the blackboard	p. 390
2.2.6 Desirable properties of a new architecture	p. 391
3. A new architecture	p. 392
4. Intelligent agents for human-robot interaction	p. 394
4.1. HuDL, humans and robots working together	p. 394
4.1.1 Speech	p. 397
4.1.2 Gesture	p. 397
4.1.3 Human detection and localization	p. 398
4.1.4 Face detection and tracking	p. 398
4.1.5 Skin detection and tracking	p. 398
4.1.6 Sound localization	p. 399
4.1.7 Identification of users	p. 399
4.1.8 Physical interaction	p. 399
4.2. The human agent	p. 399
4.3. The self agent	p. 403
5. Results	p. 405
6. Conclusions and future work	p. 407
References	p. 408
Chapter 12 Computerized obstacle avoidance systems for the blind and visually impaired	p. 413
1. Introduction	p. 414
2. Conventional electronic travel aids	p. 414
3. Mobile robotics technologies for the visually impaired	p. 416
3.1. Mobile robot obstacle avoidance sensors	p. 416
3.2. Mobile robot obstacle avoidance	p. 418
3.2.1 The vector field histogram method for obstacle avoidance	p. 418
3.2.2 Limitations of mobile robots as guides for the blind	p. 422
4. The NavBelt	p. 422
4.1. Concept	p. 422
4.2. Implementation of the guidance mode	p. 428
4.3. Implementation of the image mode	p. 428
4.4. Experimental results	p. 432
4.4.1 Experiments with real obstacles	p. 432
4.4.2 Experiments with different walking patterns	p. 432
4.5. Conclusions on the NavBelt	p. 433
5. The GuideCane	p. 434
5.1. Functional description	p. 434
5.2. Guidance signals versus obstacle information	p. 437
5.3. Information transfer	p. 437
5.4. Hardware implementation	p. 438
5.4.1 Mechanical hardware	p. 438
5.4.2 Electronic hardware	p. 440
5.5. Software implementation	p. 441
5.6. Experimental results	p. 443
6. Discussion	p. 445
References	p. 446
Chapter 13 Advanced design concepts for a knee-ankle-foot orthosis	p. 449
1. Introduction	p. 450
2. History	p. 452
3. Current knee-ankle-foot orthosis design	p. 452
4. Advanced concepts in orthosis design	p. 453
4.1. Logic-controlled electromechanical free-knee orthosis	p. 453
4.2. UTX--swing orthosis	p. 461
4.3. Selectively lockable knee brace	p. 464
5. Design critique	p. 468
References	p. 468
Index of acronyms and abbreviations	p. 471
Index of terms	p. 473

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