Ningbo Yu

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PURPOSE Longitudinal studies to evaluate the effect of rehabilitative therapies require an objective, reproducible and quantitative means for testing function in vivo. An fMRI assessment tool for upper extremity related brain activation using an MRI-compatible manipulandum was developed and tested for use in neurorehabilitation research. METHODS Fifteen(More)
PURPOSE Robotic and mechatronic devices that work compatibly with magnetic resonance imaging (MRI) are applied in diagnostic MRI, image-guided surgery, neurorehabilitation and neuroscience. MRI-compatible mechatronic systems must address the challenges imposed by the scanner's electromagnetic fields. We have developed objective quantitative evaluation(More)
Dexterous hand and arm function are crucial for execution of activities of daily living (ADLs). However, it remains difficult for patients with neurological deficits, such as stroke, to recover the lost function. In this paper, a versatile haptic interface, omega. 7, has been employed to interact with the patient to perform designed dexterous manipulation(More)
Humanoid robots can be of great assistance to accomplish dexterous manipulation tasks for the impaired and elderly people, but diversity of the environments and complexity of autonomous algorithms still keep as challenging obstacles. In this paper, we proposed a gesture-based telemanipulation scheme to control the NAO humanoid robot. Taking advantage of the(More)
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However, there are still challenges for the impedance control of cable-driven SEAs, such as the reduced bandwidth caused by the(More)
Disabilities after neural injury such as stroke bring tremendous burden to the patients, families and society. Besides the conventional constrained-induced training with the paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fits well the fact that both arms are needed in common(More)
In robot teleoperation, the fusion of human manual control and robot autonomy can greatly improve its ability to accomplish dynamic and complex operations and tasks. In this paper, an innovative haptic shared controller has been proposed for teleoperation of mobile robots. The robot autonomy and human intervention are both taken into account, and further,(More)
Dexterous distal arm functions are crucial for execution of activities of daily living (ADLs). However, it remains difficult for patients with neurological deficits, such as stroke, to recover the lost manipulation capabilities. In this paper, a modular approach has been proposed to design a wrist-hand manipulator to be employed in the rehabilitation(More)
In neurorehabilitation, longitudinal assessment of arm movement related brain function in patients with motor disability is challenging due to variability in task performance. MRI-compatible robots monitor and control task performance, yielding more reliable evaluation of brain function over time. The main goals of the present study were first to define the(More)