WORK IN PROGRESS

In the last few years, collaborative robots are being extensively used for rehabilitation, particularly for patients with upper limb disabilities. These robots are specially prepared for human-robot interaction and they can assist motion in different modalities depending on the limb mobility (passive, active, active-assistive, etc). In these cases, human-robot interaction is mediated by end-effector tools. The robot end-effector attachment point is connected to the patient’s limb and can guide it over a fixed path or can apply an assisted-as-needed control for the rehabilitation therapy. These systems usually use handles, grasped by the patient as robot end-effectors, to generate a motion of the limb in space. However, in most cases, these end-effectors do not allow hand mobility or grasping, reducing the possibilities of the rehabilitation exercises.

Human Robotic is developing more ergonomic and flexible end-effector robot-assisted rehabilitation systems by improving the variety of end-effector tools. New handle designs promote an easy and rapid mounting to the impaired limb of the patient and allow the hand to move freely when reaching objects in the rehabilitation exercises. We have developed and tested an end-effector connected both to the wrist by a fixed bracelet and to the robot end-effector by an adjustable spherical joint. In addition, we are working in a robot end-effector for elbow rehabilitation.

• Whac-a-Mole: is a virtual immersive game for the rehabilitation of arm reaching movements. Players must hit the mole that appears on the surface in time using their arm. The game has different modes and difficulty levels to adapt to the patient needs. This game can be played with virtual reality headset controllers or in combination with an end-effector rehabilitation robot.

• GrabNLoad: is a game oriented to the rehabilitation of arm flexion and extension. Players must extend their arm to reach diamonds that appear on the road and use muscle contractions to grab them depending on the weight of the diamond. This game covers both dynamic and isometric muscle contractions. It can be combined with a sensorized arm wearable ARMIA, also developed by Human Robotics.

• Cloud Spaceship: is simple game for ankle rehabilitation. Players control the height of a spaceship which must avoid clouds by dorsiflexing their foot. If the ship hits a cloud, it loses a life which can be regained eventually by picking hearts that appear on the path. It can be controlled with just a simple inertial sensor on the foot and combined with ankle exoskeletons.

Surface bipolar EMG is used to extract information on motor coordination through the computation of time-frequency parameters, the study of muscle synergies or the analysis of inter- and intra-muscular coherence during coordinated movements. We apply these methods on single and multiple muscles in a wide range of motor conditions, both in healthy and pathological subjects.

Additionally, we are working on the most recent techniques to process High-Density Electromyography (HD-EMG). We are specially centered in parameters related to neuromechanical delays. In this case, we are now able, for the first time, to obtain neuromechanical latencies at the motor unit level. This is a very novel technique that has multiple implications in current and future research. We are also leading the project MYOREHAB, in which HD-EMG is used to decode hand movement kinematics in a very high detail to implement novel rehabilitation platforms for hand rehabilitation.