Publications

Design and Clinical Validation of a Robotic Ankle-Foot Simulator With Series Elastic Actuator for Ankle Clonus Assessment Training

April 2021 - IEEE Robotics and Automation Letters

To fulfill the need for reliable and consistent medical training of the neurological examination technique to assess ankle clonus, a series elastic actuator (SEA) based haptic training simulator was proposed and developed. The simulator's mechanism (a hybrid of belt and linkage drive) and controller (impedance control) were designed to render a realistic and safe training environment.


 

User Centered Approach to the Supra-Functional Needs of People Living with Amyotrophic Lateral Sclerosis (ALS)

April 2021 - Proceedings of the 2021 Design of Medical Devices Conference

User-centered design relies upon the appreciation that assistive technology device solutions need to include the functional and supra-functional (e.g., emotional, social, cultural) needs of users. Developing solutions without basing decision-making on both quantitative (functional) and qualitative (supra-functional) needs can lead to imbalanced devices, services, and/or environments. Satisfying both functional and supra-functional needs is the foundation of user-centered design, which in itself relies upon empathic understanding of the person that one is aiming to serve.


 

Design Framework and Clinical Evaluation of a Passive Hydraulic Patient Simulator for Biceps Spasticity Assessment Training

August 2021 - Mechanisms Robotics

This article presents the framework for developing a passive (unpowered) mechanical training simulator for replication of biceps spasticity to complement current clinical assessment training. The passive training simulator was developed to mimic three main behavioral features of spasticity, i.e., abnormal muscle tone, catch-release behavior, and range of motion (ROM) reduction.