Cortese M.,Sant'Anna School of Advanced Studies |
Cempini M.,Sant'Anna School of Advanced Studies |
De Almeida Ribeiro P.R.,University of Tübingen |
Soekadar S.R.,University of Tübingen |
And 2 more authors.
IEEE/ASME Transactions on Mechatronics | Year: 2015
This paper presents a novel mechatronics master-slave setup for hand telerehabilitation. The system consists of a sensorized glove acting as a remote master and a powered hand exoskeleton acting as a slave. The proposed architecture presents three main innovative solutions. First, it provides the therapist with an intuitive interface (a sensorized wearable glove) for conducting the rehabilitation exercises. Second, the patient can benefit from a robot-aided physical rehabilitation in which the slave hand robotic exoskeleton can provide an effective treatment outside the clinical environment without the physical presence of the therapist. Third, the mechatronics setup is integrated with a sensorized object, which allows for the execution of manipulation exercises and the recording of patient's improvements. In this paper, we also present the results of the experimental characterization carried out to verify the system usability of the proposed architecture with healthy volunteers. © 2015 IEEE.
Vannetti F.,UO Riabilitazione Cardiaca |
Pasquini G.,UO Riabilitazione Cardiaca |
Vitiello N.,Piaggio |
Molino-Lova R.,UO Riabilitazione Cardiaca
Scientific World Journal | Year: 2014
Background. Although walking has been extensively investigated in its biomechanical and physiological aspects, little is known on whether lower limb length and body proportions affect the energy cost of overground walking in older persons. Methods. We enrolled 50 men and 12 women aged 65 years and over, mean 69.1 ± SD 5.4, who at the end of their cardiac rehabilitation program performed the six-minute walk test while wearing a portable device for direct calorimetry and who walked a distance comparable to that of nondisabled community-dwelling older persons. Results. In the multivariable regression model (F = 12.75, P < 0.001, adjusted R 2 = 0.278) the energy cost of overground walking, expressed as the net energy expenditure, in kg-1 sec -1, needed to provide own body mass with 1 joule kinetic energy, was inversely related to lower limb length and directly related to lower limb length to height ratio (β ± S E β = - 3.72 - 10 - 3 ± 0.74 - 10 - 3, P < 0.001, and 6.61 - 10 - 3 ± 2.14 - 10 - 3, P = 0.003, resp.). Ancillary analyses also showed that, altogether, 1 cm increase in lower limb length reduced the energy cost of overground walking by 2.57% (95%CI 2.35-2.79). Conclusions. Lower limb length and body proportions actually affect the energy cost of overground walking in older persons. © 2014 Federica Vannetti et al.