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One of the major application targets of service robots is to use them as assistive devices for rehabilitation. This book introduces some latest achievements in the field of rehabilitation robotics and assistive technology for people with disabilities and aged people. The book contains results from both theoretical and experimental works and reviews on some new advanced rehabilitation devices which has been recently transferred to the industry. Significant parts of the book are devoted to the assessment of new rehabilitation technologies, the evaluation of prototype devices with end-users, the safety of rehabilitation robots, and robot-assisted neurorehabilitation. The book is a representative selection of the latest trends in rehabilitation robotics and can be used as a reference for teaching on mechatronic devices for rehabilitation.

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• List of Contributors(p. XIX)
• List of Abbreviations(p. XXVII)
• Part I Introduction
• 1 Advances in Human-Friendly Robotic Technologies for Movement Assistance/Movement Restoration for People with Disabilities(p. 3)
• 1.1 Introduction(p. 3)
• 1.2 Areas of the RR Application(p. 5)
• 1.2.1 Robotic Systems for Movement Assistance(p. 5)
• 1.2.2 Robots for Physical Support and Indoor Navigation(p. 7)
• 1.2.3 Robots for Physical Rehabilitation(p. 7)
• 1.2.4 Vocational RR(p. 8)
• 1.2.5 Emotional Interactive Entertainment Robots(p. 9)
• 1.3 Specialized Human-Machine Interface(p. 10)
• 1.4 Rehabilitation Robots in the Smart House Design(p. 10)
• 1.5 Functional Integration of the Robotic Environment(p. 12)
• 1.6 Commercialization of RR(p. 13)
• 1.7 Some Issues for Futuristic Intelligent Robotic House Model(p. 16)
• 1.8 Concluding Remarks(p. 18)
• 2 Rehabilitation Robotics from Past to Present - A Historical Perspective(p. 25)
• 2.1 Introduction(p. 25)
• 2.2 Earliest Work(p. 26)
• 2.3 Assistive Robotics(p. 27)
• 2.3.1 Fixed Site(p. 28)
• 2.3.2 Mobile Robots(p. 31)
• 2.3.3 Wheelchair Mounted Manipulators(p. 33)
• 2.3.4 Human Machine Interface(p. 35)
• 2.4 Mobility(p. 35)
• 2.5 Prosthetics and Orthotics(p. 36)
• 2.6 Robot Mediated Therapy(p. 37)
• 2.7 Robotics in Special Needs Education(p. 38)
• 2.8 Robotics in Communications(p. 39)
• 2.9 Historical Perspective(p. 40)
• 2.10 Commercialisation(p. 40)
• 2.11 Alternatives to Robotics in Rehabilitation(p. 41)
• 2.12 Conclusions(p. 42)
• Part II Rehabilitation Robots for Assistance of Human Movements II.1 Conceptions and Experimental Design
• 3 Toward a Human-Friendly User Interface to Control an Assistive Robot in the Context of Smart Homes(p. 47)
• 3.1 Introduction(p. 47)
• 3.2 MANUS Assistive Robot(p. 48)
• 3.3 Networking Technologies and Developments(p. 49)
• 3.4 General Software Architecture(p. 50)
• 3.5 User Interface Adaptation(p. 51)
• 3.6 Implementation of a Path Planner(p. 52)
• 3.6.1 Gesture Library(p. 52)
• 3.6.2 Obstacles Avoidance(p. 53)
• 3.7 Towards the Co-autonomy Concept(p. 54)
• 3.8 Conclusion(p. 55)
• 4 Welfare-Oriented Service Robotic Systems: Intelligent Sweet Home & KARES II(p. 57)
• 4.1 Introduction(p. 57)
• 4.2 Intelligent Sweet Home(p. 59)
• 4.2.1 Questionnaire Survey(p. 59)
• 4.2.2 Assistive Systems(p. 62)
• 4.2.3 Intelligent Man-Machine Interfaces(p. 67)
• 4.3 KARES II System(p. 72)
• 4.3.1 Questionnaire Survey(p. 73)
• 4.3.2 Overall Structure(p. 74)
• 4.3.3 Soft Robotic Arm with Visual Servoing(p. 77)
• 4.3.4 Intelligent Human-Robot Interfaces(p. 79)
• 4.3.5 User Trials(p. 82)
• 4.4 Concluding Remarks(p. 89)
• 5 "FRIEND" - An Intelligent Assistant in Daily Life(p. 95)
• 5.1 Basic Concepts and Hardware(p. 95)
• 5.1.1 The FRIEND Project(p. 95)
• 5.1.2 Hardware Structure of FRIEND(p. 96)
• 5.1.3 Multi-layered Control Architecture of FRIEND(p. 97)
• 5.2 Application and Control(p. 100)
• 5.2.1 The "Beverage Serving" Task(p. 101)
• 5.2.2 Obstacle Avoidance(p. 109)
• 5.2.3 Task Planning(p. 111)
• 5.2.4 Demonstration-Based Programming(p. 119)
• 5.3 Summary(p. 124)
• 6 GIVING-A-HAND System: The Development of a Task-Specific Robot Appliance(p. 127)
• 6.1 Introduction(p. 127)
• 6.2 Background(p. 128)
• 6.2.1 Domotic-Robotic Integrated System(p. 129)
• 6.2.2 Localized System of Appliances(p. 130)
• 6.3 Design Concept for the Giving-A-Hand System(p. 132)
• 6.4 Domotic/Telematic and Robotic Assistance(p. 133)
• 6.5 The Fetch and Carry Robot Appliance Development(p. 133)
• 6.6 User-Centered Development(p. 135)
• 6.7 Prototype of a Local Network with the Robot Appliance(p. 138)
• 6.8 Summary and Conclusions(p. 140)
• 7 Cooperative Welfare Robot System Using Hand Gesture Instructions(p. 143)
• 7.1 Introduction(p. 143)
• 7.2 Cooperative Robot System(p. 144)
• 7.3 Measurement of Distance Using Stereo Images(p. 145)
• 7.4 Detection of the Hand and the Target Object(p. 146)
• 7.4.1 Detection of the Hand Area Using Color Image(p. 146)
• 7.4.2 Tracking of the Hand Using CP(p. 147)
• 7.4.3 Detection of the Object Using Gesture Instruction(p. 148)
• 7.5 Recognition of the Hand Gesture(p. 149)
• 7.6 Experimental Results(p. 150)
• 7.7 Conclusions(p. 152)
• 8 Selectable Operating Interfaces of the Meal-Assistance Device "My Spoon"(p. 155)
• 8.1 Introduction(p. 155)
• 8.2 Meal-Assistance Device "My Spoon"(p. 155)
• 8.3 Operating Interface(p. 156)
• 8.4 Basic Operation(p. 156)
• 8.4.1 Setup(p. 157)
• 8.4.2 Compartment Selection Command Set(p. 158)
• 8.4.3 Position Adjustment Command Set(p. 158)
• 8.5 Control Modes(p. 159)
• 8.5.1 Manual Mode(p. 159)
• 8.5.2 Semi-automatic Mode(p. 159)
• 8.5.3 Automatic Mode(p. 160)
• 8.6 Future Tasks(p. 161)
• 8.6.1 Food Recognition by Using Color Image Processing(p. 161)
• 8.6.2 Improvements in Operation(p. 162)
• 8.7 Conclusion(p. 163)
• 9 Enhancing the Usability of the MANUS Manipulator by Using Visual Servoing(p. 165)
• 9.1 Introduction(p. 165)
• 9.2 Visual Servoing(p. 167)
• 9.2.1 Vision Aspects of the Visual Servoing(p. 168)
• 9.3 Control Architecture(p. 168)
• 9.4 Vision System(p. 169)
• 9.4.1 Theory(p. 169)
• 9.4.2 Implementation(p. 170)
• 9.5 Stability(p. 171)
• 9.6 Experiments(p. 171)
• 9.7 Conclusions and Future Work(p. 174)
• Part II Rehabilitation Robots for Assistance of Human Movements II.2 Safety Issues of the Rehabilitation Robots
• 10 A Safety Strategy for Rehabilitation Robots(p. 177)
• 10.1 Introduction(p. 177)
• 10.2 Principles of Safety Standards for Robots(p. 177)
• 10.2.1 Framework of New Safety Standards for Robots(p. 177)
• 10.2.2 Safety Standard for Machinery(p. 178)
• 10.2.3 Risk Assessment Process and Risk Reduction(p. 179)
• 10.2.4 Tolerable Risks for Robots(p. 180)
• 10.3 Case Study on Safety of Rehabilitation Robots(p. 181)
• 10.3.1 Risk Estimation(p. 182)
• 10.3.2 Safety Measures of Risk Reduction(p. 183)
• 10.3.3 Benefit Estimation(p. 183)
• 10.4 Proposal of Risk Assessment Guideline for Rehabilitation Robots(p. 184)
• 10.5 Conclusion(p. 185)
• 11 Safety Evaluation Method of Rehabilitation Robots(p. 187)
• 11.1 Introduction(p. 187)
• 11.2 Safety Strategy for Human-Care Robots(p. 187)
• 11.2.1 Injury to Humans from Human-Care Robots(p. 187)
• 11.2.2 Classification of Safety Strategies(p. 188)
• 11.3 Proposing Evaluation Measures of Safety(p. 189)
• 11.3.1 Necessity of Safe Quantitative Evaluation(p. 189)
• 11.3.2 Selection of Evaluation Measures(p. 189)
• 11.4 General Evaluation Method Using Evaluation Measures(p. 190)
• 11.5 Deriving Danger-Indexes of Safety Strategy(p. 192)
• 11.5.1 Safety Design Strategy(p. 192)
• 11.5.2 Safety Control Strategy(p. 193)
• 11.6 Proposal of Design Optimization and Practical Examples(p. 194)
• 11.6.1 Formulating the Design Optimization Method(p. 194)
• 11.6.2 Maximizing Safety Under Fixed Cost(p. 195)
• 11.6.3 A New Method of Calculate a Safe Approach Motion(p. 196)
• 11.7 Conclusions(p. 197)
• 12 Risk Reduction Mechanisms for Safe Rehabilitation Robots(p. 199)
• 12.1 Introduction(p. 199)
• 12.2 Tolerable Risk and Surface Injury(p. 199)
• 12.3 Force Limitation Methods(p. 201)
• 12.4 A Straight Movement-Type Force Limitation Mechanism(p. 202)
• 12.5 A Three-Dimensional Force Limitation Mechanism(p. 204)
• 12.6 Reflex Mechanism(p. 206)
• 12.7 Conclusions(p. 207)
• Part II Rehabilitation Robots for Assistance of Human Movements II.3 Rehabilitation-Robot Evaluation
• 13 Usability of an Assistive Robot Manipulator: Toward a Quantitative User Evaluation(p. 211)
• 13.1 Introduction(p. 211)
• 13.2 Users Needs Analysis(p. 212)
• 13.3 Hardware and Software Organization(p. 212)
• 13.3.1 Hardware Architecture(p. 213)
• 13.3.2 Software Command Architecture(p. 214)
• 13.4 Quantitative Evaluation Method(p. 215)
• 13.5 Preliminary Results(p. 215)
• 13.5.1 Modes and Time of Use(p. 216)
• 13.5.2 Actions Number(p. 217)
• 13.6 Discussion(p. 219)
• 13.7 Conclusion(p. 219)
• 14 Processes for Obtaining a "Manus" (ARM) Robot within The Netherlands(p. 221)
• 14.1 Introduction(p. 221)
• 14.2 Wheelchair Mounted Service Manipulator ARM(p. 221)
• 14.3 The Current Process of Providing an ARM to a User(p. 223)
• 14.3.1 Informing Users about the Benefits of the ARM(p. 224)
• 14.3.2 Indication Criteria(p. 224)
• 14.3.3 Stand-Alone Test(p. 224)
• 14.3.4 Formal Application and Funding of an ARM(p. 226)
• 14.3.5 Mounting the ARM on the Wheelchair(p. 226)
• 14.3.6 Training(p. 226)
• 14.3.7 Service and Maintenance(p. 227)
• 14.4 The Future Process of Prescribing the ARM(p. 227)
• 14.5 Summary of Two Recent Dutch ARM-User Evaluations(p. 228)
• 14.5.1 User Study Conducted by iRV(p. 228)
• 14.5.2 User Study Conducted by hetDorp(p. 229)
• Part III Prostheses and Orthoses
• 15 Experimental Analysis of the Proprioceptive and Exteroceptive Sensors of an Underactuated Prosthetic Hand(p. 233)
• 15.1 Introduction(p. 233)
• 15.2 Mechanical Structure(p. 234)
• 15.3 Sensory System(p. 235)
• 15.4 Materials and Methods(p. 236)
• 15.4.1 Slider Position Sensor(p. 236)
• 15.4.2 Tendon Tensiometer(p. 237)
• 15.4.3 Thumb Position Sensor(p. 239)
• 15.4.4 Force Sensor(p. 240)
• 15.5 Conclusions(p. 241)
• 16 Design and Testing of WREX(p. 243)
• 16.1 Introduction(p. 243)
• 16.2 Design of WREX(p. 244)
• 16.3 Gravity Balancing With x &neq; 0(p. 245)
• 16.4 Clinical Testing(p. 248)
• 16.5 Results(p. 248)
• Part IV Intelligent Wheelchairs
• 17 A Concept for Control of Indoor-Operated Autonomous Wheelchair(p. 253)
• 17.1 Introduction and Related Works(p. 253)
• 17.1.1 Methods for Navigation(p. 254)
• 17.1.2 Path Planning and Navigation to the Goal(p. 256)
• 17.2 Conception of Wheelchair Navigation(p. 258)
• 17.2.1 Problem Statement(p. 258)
• 17.2.2 Initial Assumptions(p. 258)
• 17.3 Localization of the Wheelchair Position(p. 260)
• 17.4 Scenario of the Wheelchair Control(p. 262)
• 17.5 Navigation System(p. 264)
• 17.6 Computer Simulation of the Control Algorithm(p. 267)
• 17.6.1 Wheelchair Kinematics(p. 267)
• 17.6.2 Modeling of the Sensors and Their Arrangement on the Wheelchair Platform(p. 269)
• 17.6.3 Navigation Algorithm of the Simulator(p. 272)
• 17.7 Evaluation of the Control Algorithm(p. 283)
• 17.7.1 Navigation to Multiple Goals(p. 283)
• 17.7.2 Obstacle Avoidance(p. 284)
• 17.7.3 Avoiding a "Trap"(p. 286)
• 17.7.4 Navigation in a Complex Environment(p. 288)
• 17.7.5 Route Generation in Partially Known Environment(p. 292)
• 17.8 Future Plans and Concluding Remark(p. 294)
• 18 Design of an Intelligent Wheelchair for the Motor Disabled(p. 299)
• 18.1 Introduction(p. 299)
• 18.2 Related Works(p. 300)
• 18.3 Requirements(p. 301)
• 18.4 System Architecture(p. 302)
• 18.4.1 Hardware Configuration(p. 302)
• 18.4.2 Software Design for Real-Time System(p. 303)
• 18.5 Navigation(p. 304)
• 18.5.1 Localization(p. 304)
• 18.5.2 Hierarchical Control Architecture(p. 306)
• 18.6 Experiments(p. 307)
• 18.7 Conclusion(p. 309)
• Part V Mechatronics Devices for Assistance in Walking
• 19 Electrically Assisted Walker with Supporter-Embedded Force-Sensing Device(p. 313)
• 19.1 Introduction(p. 313)
• 19.2 Electrically Assisted Walker(p. 314)
• 19.3 Supporter-Embedded Force Sensor(p. 315)
• 19.3.1 Requirements for the Force Sensor(p. 315)
• 19.3.2 Sensor Structure(p. 316)
• 19.3.3 Sensing Method(p. 317)
• 19.3.4 Advantages(p. 318)
• 19.4 Experiments(p. 319)
• 19.5 Discussion(p. 321)
• 19.6 Summary(p. 321)
• 20 Human-Friendly Care Robot System for the Elderly(p. 323)
• 20.1 Introduction(p. 323)
• 20.1.1 The Functions of Do-u-mi Robot(p. 323)
• 20.2 Overall System of Do-u-mi Robot(p. 325)
• 20.3 Sound Localization(p. 326)
• 20.4 Face Tracking(p. 327)
• 20.4.1 Face Candidate Extraction(p. 328)
• 20.5 Autonomous Navigation(p. 330)
• 20.6 Conclusion(p. 331)
• 21 Newly Designed Rehabilitation Robot System for Walking-Aid(p. 333)
• 21.1 Introduction(p. 333)
• 21.2 Electric Motor Based Gait Rehabilitation System(p. 334)
• 21.2.1 System Description(p. 334)
• 21.2.2 Experiments(p. 336)
• 21.3 Newly Developed Gait Rehabilitation System(p. 338)
• 21.3.1 System Description(p. 338)
• 21.3.2 Control Method(p. 340)
• 21.4 Conclusion(p. 342)
• Part VI Robot-Assisted Neurorehabilitation
• 22 A Gentle/S Approach to Robot Assisted Neuro-Rehabilitation(p. 347)
• 22.1 Abstract(p. 347)
• 22.2 Background to Stroke(p. 348)
• 22.3 Gentle/S(p. 349)
• 22.3.1 Assumptions(p. 350)
• 22.4 Clinical Prototype for Machine Mediated Neurorehabilitation(p. 351)
• 22.4.1 Antigravity Mechanism for the Shoulder and Elbow(p. 353)
• 22.4.2 Exercises & Movement Guidance(p. 354)
• 22.4.3 Different Therapy Modes(p. 357)
• 22.5 Clinical Trials(p. 357)
• 22.5.1 Outcome Measures(p. 358)
• 22.5.2 Data Analysis and Statistical Methodology(p. 359)
• 22.5.3 Results(p. 360)
• 22.6 Conclusions(p. 361)
• 23 Wire Driven Robots for Rehabilitation(p. 365)
• 23.1 Introduction(p. 365)
• 23.1.1 Advantages of Wire Driven Robots(p. 366)
• 23.1.2 Problems Related to Wire Driven Robots(p. 367)
• 23.2 Manipulability and Wire Tension Computation(p. 367)
• 23.3 NeRebot: An Example of Wire Driven Robot for Rehabilitation(p. 369)
• 23.3.1 Software and Control(p. 372)
• 23.3.2 Treatment Protocol(p. 373)
• 23.4 Conclusions and Future Research(p. 374)
• 24 A Wrist Extension for MIT-MANUS(p. 377)
• 24.1 Introduction(p. 377)
• 24.2 Specification for a New Wrist Device(p. 380)
• 24.2.1 Kinematic Selection(p. 381)
• 24.2.2 Actuator Placement and Transmission Selection(p. 382)
• 24.2.3 Actuator Selection(p. 382)
• 24.2.4 Sensor Selection(p. 383)
• 24.3 Alpha-Prototype Overview(p. 383)
• 24.4 Robotic Therapy(p. 386)
• 24.5 Conclusions(p. 388)
• 25 Post Stroke Shoulder-Elbow Physiotherapy with Industrial Robots(p. 391)
• 25.1 Introduction(p. 391)
• 25.2 Analysis of Spastic Upper Limb Physiotherapy(p. 392)
• 25.3 System Design and Development(p. 394)
• 25.3.1 Mechanical Design(p. 394)
• 25.3.2 The Instrumented Orthoses(p. 399)
• 25.3.3 Control Design(p. 399)
• 25.3.4 User Interface and Programming(p. 401)
• 25.3.5 Safety Measures and Devices(p. 402)
• 25.4 Testing and Calibration(p. 403)
• 25.5 Clinical Results(p. 405)
• 25.5.1 Subjects of the Clinical Trial(p. 405)
• 25.5.2 Assessment Results(p. 406)
• 25.5.3 Analysis of Assessment Results(p. 408)
• 25.6 Conclusions(p. 409)
• 26 STRING-MAN: A Novel Wire-Robot for Gait Rehabilitation(p. 413)
• 26.1 Introduction(p. 413)
• 26.2 Development Goals(p. 414)
• 26.3 Robotic Mechanisms Design(p. 414)
• 26.4 Human/Robot Interface(p. 419)
• 26.5 Sensory Systems(p. 420)
• 26.6 Control Algorithms(p. 421)
• 26.7 Conclusion(p. 424)
• Part VII Perspectives and Trends of the Rehabilitation Robotics
• 27 Great Expectations for Rehabilitation Mechatronics in the Coming Decade(p. 427)
• 27.1 Introduction(p. 427)
• 27.2 Emerging Demographics and Healthcare Trends(p. 428)
• 27.3 Emerging Technologies Relevant to Robotics(p. 429)
• 27.4 RoadBlocks and Enablers of Robotic Applications in Rehabilitation(p. 431)
• 27.5 Mechatronic/Robotic Applications to Rehabilitation(p. 432)
• 27.6 Conclusions(p. 432)
• Subject Index(p. 435)
• Author Index(p. 439)
• About the Editors(p. 441)