Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.

Abstract: Apparatuses with rolling contact handles are described. An apparatus for hand exercising includes an outer frame having a first rail and a second rail spaced apart and an outer handle extending between the first and second rails, the outer handle configured to engage with a thenar of a hand, a roller bar slideably coupled to the first and second rails, the roller bar having a plurality of rollers capable of rotating about an axis of the roller bar, wherein the plurality of rollers are configured to support a plurality of fingers of the hand, and a resistance assembly coupled to the roller bar and the outer frame, the resistance assembly resisting movement of the roller bar towards the outer handle.

Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.

Abstract: The unique advantages of computer-controlled fabrication of a patient-specific orthotic device using an automated fabrication machine capable of following computer instructions to create 3D surface contours and new developments in non-invasive three-dimensional (3D) scanning have made it possible to acquire digital models of freeform surfaces such as the surface anatomy of the human body and to then fabricate such a patient-specific device with high precision. Such a patient-specific device brings significant improvement in patient-specific fit, comfort, and function of medical devices (and, in particular, to orthoses that require a close fit to the wearer's body to act effectively). The combination of these two technologies is ideally suited for the development of patient-specific orthotic devices. A patient specific ankle-foot orthotic device using this technology is disclosed. This exemplary device is used to help stabilize the ankle-foot region, for example, in patients with impaired gait.

Abstract: A robotic gait rehabilitation (RGR) training system is provided to address secondary gait deviations such as hip-hiking. An actuation assembly follows the natural motions of a user's pelvis, while applying corrective moments to pelvic obliquity. A human-robot interface (HRI), in the form of a lower body exoskeleton, is provided to improve the transfer of corrective moments to the pelvis. The system includes an impedance control system incorporating backdrivability that is able to modulate the forces applied onto the body depending on the patient's efforts. Various protocols for use of the system are provided.

Abstract: An apparatus for distal extremity rehabilitation includes a mechanical ground subassembly for disposition on a dorsal side of a patient's distal extremity, at or near a joint of the patient. The distal extremity may include the hand/wrist complex or the ankle/foot complex. The mechanical ground assembly may be constructed to match contours of the patient's distal extremity. The apparatus further includes a distal effector subassembly for disposition upon one or more distal appendages of the patient, the distal effector subassembly coupled to the mechanical ground subassembly. The apparatus also includes an LED thimble subassembly for disposition on one or more finger tips of the patient, and an LED object subassembly with which the patient interacts by manipulating the LED thimble with respect to the LED object.

Abstract: The Active Knee Rehabilitation Orthotic System (ANdROS) is a wearable and portable assistive tool for gait rehabilitation and monitoring of people with motor control deficits due to a neurological ailment, such as stroke. ANdROS reinforces a desired gait pattern by continually applying a corrective torque around the knee joint, commanded by a impedance controller. A sensorized yet unactuated brace worn on the unimpaired leg is used to synchronize the playback of the desired trajectory based on the user's intent. The device is mechanically grounded through two ankle foot orthoses (AFOs) rigidly attached to the main structure, which helps reduce the weight perceived by the user.

Abstract: A rehabilitation system that combines robotics and interactive gaming to facilitate performance of task-specific, repetitive exercise to enable individuals undergoing rehabilitation to improve the performance of coordinated movements of the ankle, and to practice balance activities, is disclosed. More specifically, the rehabilitation system includes at least one two degree-of-freedom robotic, haptic interface for a mammalian foot and interactive gaming hardware that is coupled to a controller, to provide a virtual reality-like environment.

Abstract: A low-cost, virtual environment, rehabilitation system and a glove input device for patients suffering from stroke or other neurological impairments for independent, in-home use, to improve upper extremity motor function, including hand and finger control. The system includes a low-cost input device for tracking arm, hand, and finger movement; an open source gaming engine; and a processing device. The system is controllable to provide four types of multiple patient/user interactions: competition, cooperation, counter-operative, and mixed.

Abstract: A rehabilitation system that combines robotics and interactive gaming to facilitate performance of task-specific, repetitive, upper extremity/hand motor tasks, to enable individuals undergoing rehabilitation to improve the performance of coordinated movements of the forearm and hand is disclosed. More specifically, the rehabilitation system includes a two degree-of-freedom (DOF) robotic, upper limb rehabilitation system and interactive gaming hardware that is coupled to a computer, to provide a virtual reality-like environment.

Abstract: Electro-rheological fluid brake or actuator devices provide controllable resistance with or without inclusion of active torque output in either direction of rotation under manual or computer control. The brake and actuator devices are suitable for use in an orthotic device for a joint, such as the knee or elbow.

Abstract: A rehabilitation system that combines robotics and interactive gaming to facilitate performance of task-specific, repetitive exercise to enable individuals undergoing rehabilitation to improve the performance of coordinated movements of the ankle, and to practice balance activities, is disclosed. More specifically, the rehabilitation system includes at least one two degree-of-freedom robotic, haptic interface for a mammalian foot and interactive gaming hardware that is coupled to a controller, to provide a virtual reality-like environment.

Abstract: A mechatronic exercise system, e.g., for rehabilitation, having instrumented handle and pedal systems and, preferably, an interactive virtual environment is disclosed. Alternatively, the instrumented handle and pedal systems are part of a virtual reality augmenting kit that can convert most types of exercise equipment, such as a stationary or exercise bicycle, ergometer, rowing machine or the like, into full virtual reality (VR) smart systems. In another embodiment, the instrumented handle and pedal systems can each be used separately with other types of devices. In a preferred embodiment, components embedded with sensors are implemented, e.g., on a stationary, exercise bicycle to monitor physiological and biomechanical parameters of the user. Signal data from the sensing components is used to immerse the user in a VR simulation so as to provide the user with visual, auditory, and haptic feedback to the user's performance.

Abstract: A gear bearing drive provides a compact mechanism that operates as an actuator providing torque and as a joint providing support. The drive includes a gear arrangement integrating an external rotor DC motor within a sun gear. Locking surfaces maintain the components of the drive in alignment and provide support for axial loads and moments. The gear bearing drive has a variety of applications, including as a joint in robotic arms and prosthetic limbs.

Abstract: A mechatronic exercise system, e.g., for rehabilitation, having instrumented handle and pedal systems and, preferably, an interactive virtual environment is disclosed. Alternatively, the instrumented handle and pedal systems are part of a virtual reality augmenting kit that can convert most types of exercise equipment, such as a stationary or exercise bicycle, ergometer, rowing machine or the like, into full virtual reality (VR) smart systems. In another embodiment, the instrumented handle and pedal systems can each be used separately with other types of devices. In a preferred embodiment, components embedded with sensors are implemented, e.g., on a stationary, exercise bicycle to monitor physiological and biomechanical parameters of the user. Signal data from the sensing components is used to immerse the user in a VR simulation so as to provide the user with visual, auditory, and haptic feedback to the user's performance.

Abstract: A variable resistance hand rehabilitation device and corresponding system. Improvements over the prior art include: a new damping system or damper design, to reduce friction and increase maximum force output; a dynometer feature that enables converting the dynamic device to a static grip force measuring device; a closed-loop controller; and a new graphic user interface for the medical practitioner and new virtual reality game software that allow accurate and smooth operation of the device and increased patient motivation.

Abstract: The unique advantages of computer-controlled fabrication of a patient-specific orthotic device using an automated fabrication machine capable of following computer instructions to create 3D surface contours and new developments in non-invasive three-dimensional (3D) scanning have made it possible to acquire digital models of freeform surfaces such as the surface anatomy of the human body and to then fabricate such a patient-specific device with high precision. Such a patient-specific device brings significant improvement in patient-specific fit, comfort, and function of medical devices (and, in particular, to orthoses that require a close fit to the wearer's body to act effectively). The combination of these two technologies is ideally suited for the development of patient-specific orthotic devices. A patient specific ankle-foot orthotic device using this technology is disclosed. This exemplary device is used to help stabilize the ankle-foot region, for example, in patients with impaired gait.

Abstract: An exercising and rehabilitation hand device is disclosed. The hand device according to the invention is portable and controllable by smart fluid-based brakes/dampers to provide a compact, lightweight mechanism whose resistance to motion can be changed on-the-fly, through computerize control, to vary the exercises that can be performed and tune the workout or rehabilitation session to the responses of the user.

Abstract: Electro-rheological fluid brake or actuator devices provide controllable resistance with or without inclusion of active torque output in either direction of rotation under manual or computer control. The brake and actuator devices are suitable for use in an orthotic device for a joint, such as the knee or elbow.

Abstract: A gear bearing drive provides a compact mechanism that operates as an actuator providing torque and as a joint providing support. The drive includes a gear arrangement integrating an external rotor DC motor within a sun gear. Locking surfaces maintain the components of the drive in alignment and provide support for axial loads and moments. The gear bearing drive has a variety of applications, including as a joint in robotic arms and prosthetic limbs.