Poster Sessions — ICORR 2013

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Poster Session A

Poster Session B

Poster Session C

Poster Session D

Poster Session E

Poster Session A

Monday, June 24, 2013

A1
Optimization of Human Walking for Exoskeletal Support
Wietse van Dijk¹ and Herman van der Kooij²
¹Delft University of Technology, ²University of Twente

A2
Adaptive Control of a Serial-in-Parallel Robotic Rehabilitation Device
Ali Utku Pehlivan, Fabrizio Sergi, Marcia K. O' Malley
Rice University

A3
Comparison of the Passive Dynamics of Walking on Ground, Tied-belt and Split-belt Treadmills, and via the Gait Enhancing Mobile Shoe (GEMS)
Ismet Handzic and Kyle Reed
University of South Florida

A4
The Biomechanics and Energetics of Human Running Using an Elastic Knee Exoskeleton
Grant Elliott¹, Gregory Sawicki², Andrew Marecki¹, Hugh Herr¹
¹Massachusetts Institute of Technology, ²North Carolina State University

A5
A Soft Robotic Exomusculature Glove with Integrated sEMG Sensing for Hand Rehabilitation
Michael Delph, Sarah Fischer, Phllip Gauthier, Carlos Martinez Luna, Edward Clancy, Gregory Fischer
WPI

A6
3D Joystick for Robotic Arm Control by Individuals with High Level Spinal Cord Injuries
Hairong Jiang, Juan P. Wachs, Martin Pendergast, Bradley S. Duerstock
Purdue University

A7
Investigation of a passive inter-limb device on step-to-step transition of human walking
Jun-tian Zhang and Qingguo Li
Queen's University

A8
Stabilization of a Three-Dimensional Limit Cycle Walking Model through Step-to-Step Ankle Control
Myunghee Kim and Steven Collins
Carnegie Mellon University

A9
Human Motion Intention based Scaled Teleoperation for Orientation Assistance in Preshaping for Grasping
Karan Khokar, Redwan Alqasemi, Sudeep Sarkar, Rajiv Dubey
University of South Florida

A10
Fuel Efficiency of a Portable Powered Ankle-Foot Orthosis
Morgan K. Boes¹, Mazharul Islam², Yifan David Li², Elizabeth T. Hsiao-Wecksler²
¹Bioengineering Department, University of Illinois at Urbana-Champaign, ²Department of Mechanical Engineering and Science, University of Illinois at Urbana-Champaign

A11
Design and Control of a Two-Wheeled Robotic Walker for Balance Enhancement
Airton da Silva and Frank Sup
University of Massachusetts Amherst

A12
Differentiating Ability in Users of the ReWalk Powered Exoskeleton: An Analysis of Walking Kinematics
Mukul Talaty¹, Alberto Esquenazi¹, Jorge E. Briceño²
¹MossRehab, ²Universidad Simón Bolívar

A13
A framework to aid adoption of automated rehabilitation devices into clinical practice
Alastair Cozens¹, Bipin Bhakta², Therese Jackson¹, Katie Henderson¹, Shiona Brough¹, Fredericke van Wijck³, Sophie Makower², Christine Smith⁴
¹NHS Grampian, ²University of Leeds, ³Glasgow Caledonian University, ⁴University of Salford

A14
Development of an Elliptical Trainer with Real-Time Knee Adduction Moment Feedback
Sang Hoon Kang¹, Song Joo Lee², Yupeng Ren³, Li-Qun Zhang¹
¹Rehabilitation Institute of Chicago/Northwestern University, ²Northwestern University, ³Rehabilitation Institute of Chicago

A15
VRACK: Measuring Pedal Kinematics During Stationary Bike Cycling
Amir B. Farjadian¹, Qingchao Kong¹, Venkata K. Gade², Judith E. Deutsch², Constantinos Mavroidis¹
¹Northeastern University, ²University of Medicine and Dentistry of New Jersey

A16
Robot-Assisted Balance Training for Gait Modification
Seok Hun Kim and Kyle Reed
University of South Florida

A17
A Pivoting Elliptical Training System for Prevention and Rehabilitation of Musculoskeletal Injuries
Yupeng Ren¹, Song Joo Lee², Hyung-Soon Park³, Li-Qun Zhang³
¹RIC, ²Northwestern University, ³RIC/Northwestern University

A18
Adaptation of Task Difficulty in Rehabilitation Exercises Based on the User’s Motor Performance and Physiological Responses
Navid Shirzad and H. F. Machiel Van der Loos
UBC Mechanical Engineering

A19
Improving the match between ability and challenge: toward a framework for automatic level adaptation in game-based assessment and training
Joel C. Perry, Sivakumar Balasubramanian, Cristina Rodriguez-de-Pablo, Thierry Keller
TECNALIA

A20
A Finger Exoskeleton for Rehabilitation and Brain Image Study
Zhenjin Tang, Shigeki Sugano, Hiroyasu Iwata
Waseda University

A21
Kinematics and Design of a Portable and Wearable Exoskeleton for Hand Rehabilitation
Marco Cempini, Stefano Marco Maria De Rossi, Tommaso Lenzi, Mario Cortese, Francesco Giovacchini, Nicola Vitiello, Maria Chiara Carrozza
Scuola Superiore Sant'Anna

A22
A Novel Framework for Virtual Prototyping of Rehabilitation Exoskeletons
Priyanshu Agarwal, Pei-Hsin Kuo, Richard Neptune, Ashish Deshpande
The University of Texas at Austin

A23
Design and Analysis of a Compliant Bimanual Rehabilitation Device
Samuel McAmis and Kyle Reed
University of South Florida

A24
Design of Wrist Gimbal: a Forearm and Wrist Exoskeleton for Stroke Rehabilitation
John A. Martinez, Paul Ng, Son Lu, McKenzie S. Campagna, Ozkan Celik
San Francisco State University

A25
Development of a Fuzzy Logic Based Intelligent System for Autonomous Guidance of Post-stroke Rehabilitation Exercise
Rajibul Huq¹, Rosalie Wang², Elaine Lu¹, Debbie Hébert³, Hervé Lacheray⁴, Alex Mihailidis³
¹University of Toronto, ²Toronto Rehabilitation Institute, ³University of Toronto & Toronto Rehabilitation Institute, ⁴Quanser Inc.

A26
Adaptive Control with State-Dependent Modeling of Patient Impairment for Robotic Movement Therapy
Curtis Bower, Hossein Taheri, Eric Wolbrecht
University of Idaho

A27
System Characterization of RiceWrist-S: a Forearm-Wrist Exoskeleton For Upper Extremity Rehabilitation
Ali Utku Pehlivan, Chad Rose, Marcia O'Malley
Rice University

A28
Restoring ADL Function after Wrist Surgery in Children with Cerebral Palsy: A Novel Bilateral Robot System Design
Devon Holley¹, Andrew Theriault¹, Sheku Kamara², Vince Anewenter², Daren Hughes³, Michelle J Johnson³
¹Marquette Universiy, ²Milwaukee School of Engineering, ³Medical College of Wisconsin

Poster Session B

Monday, June 24, 2013

B1
A Novel Compact Compliant Actuator Design for Rehabilitation Robots
Haoyong Yu¹, Sunan Huang¹, Gong Chen¹, Nitish Thankor¹, Siew-Lok Toh¹, Manolo STA Cruz², Yassine Ghorbel³, Chi Zhu⁴
¹National University of Singapore, ²HOPE Technik Pte. Ltd, ³University of Stuttgart, ⁴Maebashi Institute of Technology

B2
Design of a series elastic actuator for a compliant parallel wrist rehabilitation robot
Fabrizio Sergi, Melissa M. Lee, Marcia K. O'Malley
Rice University

B3
Intelligent Control of a Smart Walker and its Performance Evaluation
Simon L. Grondin and Qingguo Li
Queen's University

B4
Development and Control of a Lower Extremity Assistive Device (LEAD) for Gait Rehabilitation
Bingquan Shen, Jinfu Li, Fengjun Bai, Chee-Meng Chew
National University of Singapore

B5
Non-Contact Capacitance Sensing for Continuous Locomotion Mode Recognition: Design Specifications and Experiments with An Amputee
Enhao Zheng¹, Long Wang¹, Yimin Luo², Kunlin Wei¹, Qining Wang¹
¹Peking University, ²NRC for Rehabilitation Tech. Aids

B6
Muscle Force Estimation Method with Surface EMG for a Lower Extremities Rehabilitation Device
Fengjun Bai, Chee-Meng Chew, Jinfu Li, Bingquan Shen, Tomasz Marek Lubecki
National University of Singapore

B7
A Quasi-Passive Compliant Stance Control Knee-Ankle-Foot Orthosis
Kamran Shamaei, Paul Napolitano, Aaron Dollar
Yale University

B8
An Egocentric Vision based Assistive Co-robot
Jingzhe Zhang, Lishuo Zhuang, Yang Wang, Yameng Zhou, Yan Meng, Gang Hua
Stevens Institute of Technology

B9
Adaptive Position Anticipation in a Support Robot for Overground Gait Training Enhances Transparency
Christophe Everarts¹, Heike Vallery², Marc Bolliger³, Renaud Ronsse¹
¹Université catholique de Louvain, ²Khalifa University of Science, Delft University of Technology and ETH Zurich, ³Balgrist University Hospital

B10
Improving the transparency of a rehabilitation robot by exploiting the cyclic behaviour of walking
Wietse van Dijk¹, Bram Koopman², Edwin van Asseldonk², Herman van der Kooij²
¹Delft University of Technology, ²University of Twente

B11
A Novel Body Weight Support System Extension: Initial Concept and Simulation Study
Andrew Pennycott, Heike Vallery, Dario Wyss, Markus Spindler, Antoine Dewarrat, Robert Riener
ETH Zurich

B12
A review of assistive devices for arm balancing
Gerard Dunning and Just Herder
Delft University of Technology

B13
A Rehabilitation Device to Improve the Hand Grasp Function of Stroke Patients using a Patient-Driven Approach
Wanjoo Park¹, Wookjin Jeong¹, Gyu-Hyun Kwon¹, Yun-Hee Kim², Laehyun Kim¹
¹Korea Institute of Science and Technology, ²Samsung Medical Center

B14
Towards Extended Virtual Presence of the Therapist in Stroke Rehabilitation
Hee-Tae Jung¹, Takeshi Takahashi¹, Yu-Kyong Choe¹, Jennifer Baird², Tammie Foster³, Roderic Grupen¹
¹University of Massachusetts Amherst, ²St. Ambrose University, ³Cooley Dickinson Hospital

B15
Development of a powered mobile module for the ArmAssist home-based telerehabilitation platform
Je Hyung Jung, David Valencia, Cristina Rodríguez-de-Pablo, Thierry Keller, Joel Perry
Rehabilitation Area, Health Division, TECNALIA

B16
Assist-as-needed path control for the PASCAL rehabilitation robot
Urs Keller, Georg Rauter, Robert Riener
Sensory-Motor Systems Lab, ETH Zürich, Switzerland

B17
Goal Orientated Stroke Rehabilitation Utilising Electrical Stimulation, Iterative Learning and Microsoft Kinect
Timothy Exell, Christopher Freeman, Katie Meadmore, Ann-Marie Hughes, Emma Hallewell, Mustafa Kutlu, Jane Burridge, Eric Rogers
University of Southampton

B18
A feasibility study of the effect of multichannel electrical stimulation and gravity compensation on hand function in stroke patients: a pilot study.
Thijs Krabben¹, Jaap H Buurke², Gerdienke B Prang¹e, Johan S Rietman²
¹Roessingh Research & Development, ²University of Twente

B19
Pulsed assistance: a new paradigm of robot training
Dalia De Santis¹, Lorenzo Masia¹, Pietro Morasso¹, Valentina Squeri¹, Jacopo Zenzeri¹, Maura Casadio², Psiche Giannoni³, Assunta Riva⁴
¹RBCS Dept., Istituto Italiano di Tecnologia, ²DIBRIS, University of Genoa, ³ART - Education and Rehabilitation Center, ⁴SI4LIFE - Innovation hub for elderly and disabled people

B20
Towards a Parameterizable Exoskeleton for Training of Hand Function After Stroke
Patrick Weiss, Lars Heyer, Thomas F. Münte, Marcus Heldmann, Achim Schweikard, Erik Maehle
University of Lübeck, Germany

B21
Design of a self-aligning 3-DOF actuated exoskeleton for diagnosis and training of wrist and forearm after stroke
J. Houdijn Beekhuis, Ard J. Westerveld, Herman van der Kooij, Arno H.A. Stiene³
University of Twente

B22
SCRIPT Passive Orthosis: Design and Technical Evaluation of the Wrist and Hand Orthosis for Rehabilitation Training at Home
Serdar Ates¹, Joan Lobo-Prat¹, Piet Lammertse², Herman van der Kooij¹, Arno H. A. Stienen¹
¹University of Twente, ²MOOG B. V.

B23
Enhancing patient freedom in rehabilitation robotics using gaze-based intention detection
Domen Novak and Robert Riener
ETH Zurich, Sensory-Motor Systems Lab

B24
Using a high spatial resolution tactile sensor for intention detection
Claudio Castellini¹ and Risto Kõiva²
¹DLR - German Aerospace Center, ²Bielefeld University

B25
Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance
Phillip Grice¹, Marc Killpack¹, Advait Jain², Sarvagya Vaish¹, Jeffrey Hawke¹, Charles Kemp¹
¹Georgia Institute of Technology, ²Redwood Robotics, Inc

B26
SQUID: Sensorized Shirt with Smartphone Interface for Exercise Monitoring and Home Rehabilitation
Amir B. Farjadian, Mark L. Sivak, Constantinos Mavroidis
Northeastern University

B27
Design of a Robotic Mobility System to Promote Socialization in Children
Xi Chen¹, Christina Ragonesi¹, James Galloway¹, Sunil Agrawal²
¹University of Delaware, ²Columbia University

B28
A Haptically Enhanced Painting as a Tool for Neurorehabilitation
Hoang H. Le¹, Rui C.V. Loureiro¹, Florian Dussopt², Nicholas Phillips³, Aleksander Zivanovic¹, Martin J. Loomes¹
¹Middlesex University, ²Florian Dussopt Design Studio, ³Nick Phillips Sound Studio

Poster Session C

Tuesday, June 25, 2013

C1
Paralyzed Subject Controls Telepresence Mobile Robot Using Novel sEMG Brain-Computer Interface: Case Study
Kenneth Lyons and Sanjay Joshi
University of California, Davis

C2
Brain Computer Interface based Robotic Rehabilitation with Online Modification of Task Speed
Mine Sarac, Ela Koyas, Ahmetcan Erdogan, Mujdat Cetin, Volkan Patoglu
Sabanci University

C3
A body machine interface for the control of a 2D cursor
Ismael Seanez and Ferdinando Mussa-Ivaldi
Northwestern University

C4
Toward Gesture Controlled Wheelchair: A Proof of Concept Study
Noriyuki Kawarazaki¹, Dimitar Stefanov², Alejandro Diaz¹
¹Kanagawa Institute of technology, ²Coventry University

C5
A Wheelchair Operation Assistance Control for a Wearable Robot Using the User's Residual Function
Naoto Mizutani¹, Tatsuya Watanabe², Ken'ichi Yano¹, Takaaki Aoki³, Yutaka Nishimoto², Yasuyuki Kobayashi⁴
¹Mie University, ²Gifu University, ³Gifu University Hospital, ⁴LUMINOUS JAPAN CO.,LTD.

C6
A Five-wheel Wheelchair with an Active-caster Drive System
Yu Munakata, Aki Tanaka, Masayoshi Wada
Tokyo Univ. of Agriculture and Technology

C7
Determining Navigability of Terrain Using Point Cloud Data
Stephanie Cockrell, Gregory Lee, Wyatt Newman
Case Western Reserve University

C8
Using Machine Learning to Blend Human and Robot Controls for Assisted Wheelchair Navigation
Aditya Goil¹, Matthew Derry¹, Brenna Argall²
¹Northwestern University, ²Northwestern University and Rehabilitation Institute of Chicago

C9
A Depressurization Assistance System with a Suitable Posture for a Seated Patient on a Wheelchair
Kenji Shiotani¹, Daisuke Chugo¹, Yuki Sakaida², Sho Yokota³, Hiroshi Hashimoto⁴
¹Kwansei Gakuin Univ., ²RIKEN, ³Setsunan Univ., ⁴Advanced Inst. of Industrial Tech.

C10
Autonomous Function of Wheelchair-Mounted Robotic Manipulators to Perform Daily Activities
Cheng-Shiu Chung, Hongwu Wang, Rory Cooper
University of Pittsburgh

C11
Development and Preliminary Testing of a Novel Wheelchair Integrated Exercise/ Rehabilitation System
Beomsoo Hwang and Doyoung Jeon
Sogang University

C12
Concept Proposal for a Detachable Exoskeleton-Wheelchair to Improve Mobility and Health
Jaimie Borisoff, Johanne Mattie, Vince Rafer
British Columbia Institute of Technology

C13
Rehabilitation Robotics Ontology on the Cloud
Zeynep Dogmus¹, Agis Papantoniou², Muhammed Kilinc³, Sibel Yildirim³, Esra Erdem¹, Volkan Patoglu¹
¹Sabanci University, ²National Technical University of Athens, ³Hacettepe University

C14
Intentional Movement Performance Ability (IMPA): A Method for Robot-Aided Quantitative Assessment of Motor Function
Sung Yul Shin¹, Jung Yoon Kim², Sanghyeop Lee¹, Junwon Lee¹, Seung-Jong Kim¹, ChangHwan Kim¹
¹Korea Institute of Science and Technology, ²National Rehabilitation Center, Korea

C15
Analysis of grasping strategies and function in hemiparetic patients using an instrumented object
Nathanael Jarrassé¹, Markus Kuehne¹, Nick Roach², Asif Hussain², Sivakumar Balasubramanian³, Etienne Burdet², Agnès Roby-Brami¹
¹Institute of Intelligent Systems and Robotics, University Pierre et Marie Curie, CNRS - UMR, ²Department of Bioengineering, Imperial College of Science, Technology and Medicine,
³Tecnalia, Derio (Bizkaia), Spain

C16
Characterizing Coordination of Grasp and Twist in Hand Function of Healthy and Post-stroke Subjects
Hamed Kazemi, Robert Kearney, Theodore Milner
McGill University

C17
Prediction of Stroke-related Diagnostic and Prognostic Measures Using Robot-Based Evaluation
Sayyed Mostafa Mostafavi¹, Janice Glasgow¹, Stephen Scott¹, Sean Dukelow², Parvin Mousavi¹
¹Queen's University, ²University of Calgary

C18
Robotic Unilateral and Bilateral Upper-Limb Movement Training for Stroke Survivors Afflicted by Chronic Hemiparesis
Matt Simkins¹, Hyunchul Kim¹, Gary Abrams², Nancy Byl², Jacob Rosen¹
¹UCSC, ²UCSF

C19
An inverse dynamic analysis on the influence of upper limb gravity compensation during reaching
J.M.N. (Hans) Essers¹, Alessio Murgia², Arjen Bergsma³, Paul Verstegen⁴, Kenneth Meijer¹
¹Department of Human Movement Sciences, Maastricht University Medical Centre +, ²Center for Human Movement Sciences, University Medical Center Groningen, ³Department of Rehabilitation, Nijmegen Center for Evidence Based Practice, Radboud University Nijmegen Medical Centre and Department of Human Movement Sciences, Maastricht University Medical Centre +, ⁴Focal Meditech BV

C20
PARO Robot Affects Diverse Interaction Modalities in Group Sensory Therapy for Older Adults with Dementia
Selma Sabanovic¹, Casey Bennett², Wan-Ling Chang¹, Lesa Huber¹
¹Indiana University, ²Indiana University; Centerstone Research Institute

C21
Development of a Novel Evidence-Based Automated Powered Mobility Device Competency Assessment
Jaime Valls Miro¹, Ross Black², Bojan Andonovski¹, Gamini Dissanayake¹
¹UTS, ²Prince of Wales Hospital

C22
Preliminary evaluation of SensHand V1 in assessing motor skills performance in Parkinson Disease
Filippo Cavallo¹, Carlo Maremmani², Dario Esposito¹, Erika Rovini¹, Michela Aquilano¹, Paolo Bongioanni³, Maria Chiara Carrozza¹, Paolo Dario¹
¹Scuola Superiore Sant'Anna, ²Area Health Authority District 1 of Massa Carrara, ³Azienda Ospedaliero-Universitaria Pisana, Neurocare Onlus

C23
Development of the iPAM MkII System and Description of a Randomized Controlled Trial with Acute Stroke Patients
Andrew Jackson¹, Martin Levesley¹, Sophie Makower², Alastair Cozens³, Bipinchandra Bhakta⁴
¹University of Leeds, ²Leeds Community Healthcare NHS Trust, ³Grampian NHS, ⁴Leeds Teaching Hospitals Trust, UK

C24
Effects of upper limb robot-assisted therapy on motor recovery of subacute stroke patients: a kinematic approach
Stefano Mazzoleni¹, Patrizio Sale², Micol Tiboni³, Marco Franceschini², Maria Chiara Carrozza¹, Federico Posteraro³
¹Scuola Superiore Sant'Anna, ²IRCCS San Raffaele Pisana, ³Auxilium Vitae Rehabilitation Centre

C25
Performance of Daily Activities by Older Adults with Dementia: The Role of an Assistive Robot
Momotaz Begum¹, Rosalie Wang¹, Rajibul Huq², Alex Mihailidis²
¹Toronto Rehab, ²University of Toronto

C26
Selecting Services for a Service Robot - Evaluating the problematic activities threatening the independence of elderly persons
Sandra Bedaf^1,2, Gert Jan Gelderblom¹, Luc de Witte^1,2, Dag Syrdal², Hagen Lehmann², Farshid Amirabdollahian², Kerstin Dautenhahn², David Hewson³
¹Zuyd University of Applied Sciences, ²University of Hertfordshire, ³University of Technology of Troyes

C27
Initial Development of Direct Interaction for a Transfer Robotic Arm System for Caregivers
Hervens Jeannis, Garrett Grindle, Annmarie Kelleher, Hongwu Wang, Bambi Brewer, Rory Cooper
The University of Pittsburgh

C28
Study on a Practical Robotic Follower to Support Home Oxygen Therapy Patients - Questionnaire-Based Concept Evaluation by the Patients
Gen Endo¹, Masatsugu Iribe², Yu Iemura¹, Ryota Ikeda³, Kohei Onishi³, Naoto Maeda³, Edwardo F. Fukushima¹, Shigeo Hirose¹, Mineko Ohira⁴, Toshio Takubo⁵
¹Tokyo Institute of Technology, ²Osaka Electro-Communication University, ³Osaka Electro-Communication, ⁴East Nagano Hospital / a Meeting for the Pulmonary Rehabilitation Studies in Hokushin, ⁵Tokyo Women’s Medical University

Poster Session D

Tuesday, June 25, 2013

D1
Ankle-Knee Prosthesis with Powered Ankle and Energy Transfer for CYBERLEGs α-Prototype.
Joost Geeroms, Louis Flynn, Rene Jimenez-Fabian, Bram Vanderborght, Dirk Lefeber
Vrije Universiteit Brussel

D2
Strategies to reduce the configuration time for a powered knee and ankle prosthesis across multiple ambulation modes
Ann Simon¹, Nicholas Fey¹, Suzanne Finucane², Robert Lipschutz¹, Levi Hargrove¹
¹Center for Bionic Medicine, Rehabilitation Institute of Chicago and Department of Physical Medicine and Rehabilitation, Northwestern University, ²Center for Bionic Medicine, Rehabilitation Institute of Chicago

D3
Effects of a powered ankle-foot prosthesis on kinetic loading of the contralateral limb: A case series
David Hill and Hugh Herr
Massachusetts Institute of Technology

D4
Clutchable Series-Elastic Actuator: Design of a Robotic Knee Prosthesis for Minimum Energy Consumption
Elliott Rouse, Luke Mooney, Ernesto Martinez-Villalpando, Hugh Herr
MIT

D5
EMG Control of a Bionic Knee Prosthesis: Exploiting Muscle Co-Contraction for Improved Locomotor Function
James Dawley, Kevin Fite, George Fulk
Clarkson University

D6
Modeling of WalkMECH: a Fully-Passive Energy-Efficient Transfemoral Prosthesis Prototype
Ramazan Unal, Feite Klijnstra, Bram Burkink, Sebastiaan Behrens, Edsko Hekman, Stefano Stramigioli, Bart Koopman, Raffaella Carloni
University of Twente

D7
Novel Knee Joint Mechanism of Transfemoral Prosthesis for Stair Ascent
Koh Inoue¹, Takahiro Wada², Ryuichi Harada¹, Shinichi Tachiwana¹
¹Kagawa University, ²Ritsumeikan University

D8
Redefining Prosthetic Ankle Mechanics, Non-Anthropomorphic Ankle Design
Andrew LaPre and Frank Sup
University of Massachusetts Amherst

D9
Novel Differential Mechanism Enabling Two DOF from a Single Actuator: Application to a Prosthetic Hand
Joseph Belter and Aaron Dollar
Yale University

D10
Continuously-Variable Series-Elastic Actuator
Luke Mooney and Hugh Herr
MIT

D11
Sleeve Muscle Actuator and Its Application in Transtibial Prostheses
Hao Zheng and Xiangrong Shen
The University of Alabama

D12
Multimodal Sensor Controlled Three Degree of Freedom Transradial Prosthesis
Kengo Ohnishi¹, Isamu Kajitani², Toshiyuki Morio³, Tomoo Takagi³
¹Tokyo Denki University, ²National Inst. of Adv Industrial Science & Technology, ³Okayama Prefectural University

D13
Proportional EMG Control of Ankle Plantar Flexion in a Powered Transtibial Prosthesis
Jing Wang, Oliver A. Kannape, Hugh M. Herr
Massachusetts Institute of Technology

D14
Does it pay to have a damper in a powered ankle prosthesis? A Power-Energy Perspective
Mahdy Eslamy, Martin Grimmer, Stephan Rinderknecht, Andre Seyfarth
TU Darmstadt

D15
Myoelectric Neural Interface Enables Accurate Control of a Virtual Multiple Degree-Of-Freedom Foot-Ankle Prosthesis
Dennis Tkach, Robert Lipschutz, Suzanne Finucane, Levi Hargrove
Rehabilitation Institute of Chicago

D16
Pattern Recognition of Hand Movements with Low Density sEMG for Prosthesis Control Purposes
JOHN JAIRO VILLAREJO MAYOR, JHON FREDDY SARMIENTO VELA, ANSELMO FRIZERA NETO, TEODIANO FREIRE BASTOS FILHO
Universidade Federal do Espírito Santo

D17
Recognition of Hand Movements in a Trans–Radial Amputated Subject by sEMG
Manfredo Atzori¹, Henning Müller¹, Micheal Baechler²
¹University of Applied Sciences Western Switzerland, ²University of Fribourg

D18
A synergy-driven approach to a myoelectric hand
Sasha Blue Godfrey¹, Arash Ajoudani¹, Manuel Catalano², Giorgio Grioli², Antonio Bicchi²
¹Istituto Italiano di Tecnologia, ²University of Pisa and Istituto Italiano di Tecnologia

D19
Task Discrimination from Myoelectric Activity: A Learning Scheme for EMG-Based Interfaces.
Minas Liarokapis¹, Panagiotis Artemiadis², Kostas Kyriakopoulos¹
¹National Technical University of Athens, ²Arizona State University

D20
Evaluating subsampling strategies for sEMG-based prediction of voluntary muscle contractions
Risto Kõiva¹, Barbara Hilsenbeck², Claudio Castellini²
¹Bielefeld University, ²DLR - German Aerospace Center

D21
Body sensor network-based strapdown orientation estimation: Application to human locomotion
Berno J.E. Misgeld¹, Daniel Rueschen¹, Saim Kim², Steffen Leonhardt¹
¹RWTH Aachen University, ²MELAG Medizintechnik oHG

D22
Design of a Wearable Perturbator for Human Knee Impedance Estimation during Gait
Michael Tucker, Adrian Moser, Olivier Lambercy, James Sulzer, Roger Gassert
ETH Zurich

D23
Design of An Expert System to Automatically Calibrate Impedance Control for Powered Knee Prostheses
Ding Wang, Ming Liu, Fan Zhang, He Huang
University of Rhode Island

D24
Measuring the Dynamic Impedance of the Human Arm Without a Force Sensor
Matthew Dyck and Mahdi Tavakoli
University of Alberta

D25
Effect of age on stiffness modulation during postural maintenance of the arm
Tricia Gibo¹, Amy Bastian², Allison Okamura³
¹Johns Hopkins University, ²Kennedy Krieger; Johns Hopkins School of Medicine, ³Stanford University

D26
Haptic recognition of dystonia and spasticity in simulated multi-joint hypertonia
Davide Piovesan*¹, Alejandro Melendez-Calderon*¹, Ferdinando A. Mussa-Ivaldi²
¹Rehabilitation Institute of Chicago, ²Northwestern University

D27
Reward-based learning of a redundant task
Irene Tamagnone, Maura Casadio, Vittorio Sanguineti
University of Genoa

D28
Adaptation to Visuomotor Rotation in Isometric Reaching is Similar to Movement Adaptation
Michele F. Rotella¹, Margaret Koehler¹, Ilana Nisky¹, Amy J. Bastian², Allison M. Okamura¹
¹Department of Mechanical Engineering, Stanford University, ²Kennedy Krieger Institute and Department of Neuroscience, Johns Hopkins University

D29
Real-time Prediction Learning for the Simultaneous Actuation of Multiple Prosthetic Joints
Patrick M. Pilarski, Travis B. Dick, Richard S. Sutton
University of Alberta

Poster Session E

Wednesday, June 26, 2013

E1
High level functions for the intuitive use of an assistive robot
Olivier Lebec¹, Mohamed Walid Ben ghezala¹, Violaine Leynart², Isabelle Laffont³, Charles Fattal², Christophe Leroux¹, Laurence Devillers⁴, Clément Chastagnol⁴, Jean-Claude Martin⁴, Youcef Mezouar⁵, Hermanth Korrapatti⁵, Vincent Dupourque⁶
¹CEA-LIST, ²APPROCHE, ³CHU Montpellier, ⁴LIMSI, ⁵Institut PASCAL, ⁶ROBOSOFT

E2
Usability Test of KNRC Self-Feeding Robot
Won-Kyung Song, Won-Jin Song, Yale Kim, Jongbae Kim
National Rehabilitation Center, Korea

E3
Optimal Design of an Alignment-Free Two-DOF Rehabilitation Robot for the Shoulder Complex
Daniel Galinski, Julien Sapin, Dehez Bruno
Université catholique de Louvain

E4
Model-Based Safety Analysis of Human-Robot Interactions: the MIRAS Walking Assistance Robot
Jeremie Guiochet, Quynh Anh Do Hoang, Mohamed Kaaniche, David Powell
LAAS-CNRS

E5
Human-Robot Interaction Tests on a Novel Robot for Gait Assistance
Nevio Luigi Tagliamonte¹, Fabrizio Sergi², Giorgio Carpino¹, Dino Accoto¹, Eugenio Guglielmelli¹
¹Università Campus Bio-Medico di Roma, ²Rice University

E6
An intrinsically safe mechanism for physically coupling humans with robots
Gerald O'Neill, Harshil Patel, Panagiotis Artemiadis
Arizona State University

E7
Adaptive Model-Based Assistive Control for Pneumatic Direct Driven Soft Rehabilitation Robots
André Wilkening¹ and Oleg Ivlev²
¹FWBI Friedrich-Wilhelm-Bessel-Institute Research Company and University of Bremen, Institute of Automation, ²Friedrich-Wilhelm-Bessel-Institute Research Company

E8
Human-Robot-Interaction Control for Orthoses with Pneumatic Soft-Actuators - Concept and Initial Trails
David Baiden¹ and Oleg Ivlev²
¹Friedrich-Wilhelm-Bessel-Institute and University of Bremen, Institute of Automation, ²Friedrich-Wilhelm-Bessel-Institute

E9
Development of an orthosis for walking assistance using pneumatic artificial muscle
Takuma Kawamura, Kenta Takanaka, Taro Nakamura, Hisashi Osumi
Chuo University

E10
Development of an Assistive Motorized Hip Orthosis
Jeremy Olivier, Mohamed Bouri, Amalric Ortlieb, Hannes Bleuler, Reymond Clavel
EPFL

E11
A New Powered Orthosis with Hip and Ankle Linkage for Paraplegics Walking
Chikara Nagai¹, Shinnosuke Hisada¹, Goro Obinata¹, Eiichi Genda²
¹Nagoya University, ²Minami Seikyo Hospital

E12
Asymmetric Adaptation in Human Walking using the Tethered Pelvic Assist Device (TPAD)
Vineet Vashista¹, Darcy Reisman², Sunil Agrawal¹
¹Columbia University, ²University of Delaware

E13
Lateral balance control for robotic gait training.
Bram Koopman, Jos Meuleman, Edwin van Asseldonk, Herman van der Kooij
University of Twente

E14
Design of Variable-Damping Control for Prosthetic Knee based on a Simulated Biped
Jie Zhao¹, Karsten Berns¹, Roberto Baptista², Antonio Bo²
¹University of Kaiserslautern, ²University of Brasilia

E15
Gait Mode Recognition and Control for a Portable-Powered Ankle-Foot Orthosis
Yifan Li and Elizabeth Hsiao-Wecksler
UIUC

E16
Functional Evaluation of Robot End-Point Assisted Gait re-Education in Chronic Stroke Survivors
Alice De Luca¹, Carmelo Lentino¹, Honorè Vernetti¹, Giovanni Antonio Checchia¹, Psiche Giannoni², Pietro Morasso³, Maura Casadio⁴
¹Rehabilitation and Functional Reeducation Unit, Santa Corona Hospital, ASL2 Savonese, Pietra Ligure, Italy, ²ART Education and Rehabilitation Center, Genoa, Italy, ³RBCS department, Istituto Italiano di Tecnologia, Genoa, Italy, ⁴Dept of Informatics, Bioengineering, Robotics and System Engineering, University of Genoa Genoa, Italy

E17
Novel actuation design of a gait trainer with shadow leg approach
Jos Meuleman¹, Edwin van Asseldonk², Herman van der Kooij²
¹Moog, ²University of Twente

E18
Brief Biomechanical Analysis on the Walking of Spinal Cord Injury Patients with a Lower Limb Exoskeleton Robot
Jung Jun-Young¹, Park Hyunsub¹, Yang Hyun-Dae², Chae Mingi²
¹Korea Institute of Industrial Technology, ²University of Science and Technology

E19
Selecting the best number of synergies in gait: preliminary results on young and elderly people
Fiorenzo Artoni¹, Vito Monaco¹, Silvestro Micera²
¹The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy, ²The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy; Translational Neural Engineering Laboratory, Center of Neuroprosthetics, Swiss Federal Institute of Technology, Lausanne, Switzerland

E20
Preliminary Tests of a Prototype FES Control System for Cycling Wheelchair Rehabilitation
Takashi Watanabe, Takuya Murakami, Yasunobu Handa
Tohoku University

E21
Dynamic arm supports
Loek van der Heide¹, Gert Jan Gelderblom², Luc de Witte¹
¹Zuyd University of Applied sciences and School for public health and primary care, ²Zuyd University of applied sciences

E22
Design of a perfect balance system for active upper-extremity exoskeletons
Richard L. Smith, Joan Lobo-Prat, Herman van der Kooij, Arno H.A. Stienen
University of Twente

E23
Using the Kinect to Limit Abnormal Kinematics and Compensation Strategies During Therapy with End Effector Robots
Elizabeth Brokaw¹, Peter Lum², Rory Cooper³, Bambi Brewer¹
¹The University of Pittsburgh, ²The Catholic University of America and the National Rehabilitation Hospital, ³The Department of Veteran Affairs and the University of Pittsburgh

E24
Performance based upper extremity training: a pilot study evaluation with the GENTLE/A rehabilitation system
Radhika Chemuturi, Farshid Amirabdollahian, Kerstin Dautenhahn
University of Hertfordshire

E25
Electrical Stimulation and Iterative Learning Control for Functional Recovery in the Upper Limb Post-Stroke
Katie Meadmore, Timothy Exell, Emma Hallewell, Christopher Freeman, Ann-Marie Hughes, Mustafa Kutlu, Jane Burridge, Eric Rogers
University of Southampton

E26
Passive-type Rehabilitation System for Upper Limbs Which Can Display the Exact Resistance Force in the Orientation Opposite to Hand Motion
Makoto Haraguchi and Junji Furusho
Fukui University of Technology

E27
BIOMimetic Hand Exotendon Device (BIOMHED) for Functional Hand Rehabilitation in Stroke
Sang Wook Lee¹, Katlin Landers¹, Hyung-Soon Park²
¹Catholic University of America, ²National Institutes of Health

E28
Fine Finger Motor Skill Training with Exoskeleton Robotic Hand in Chronic Stroke
Corinna Ockenfeld, Raymond K.Y. Tong, Evan .A. Susanto, Sze-Kit Ho, Xiao-ling Hu
Hong Kong Polytechnic University