Vincent Crocher

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The aim of this paper was to explore how an upper limb exoskeleton can be programmed to impose specific joint coordination patterns during rehabilitation. Based on rationale which emphasizes the importance of the quality of movement coordination in the motor relearning process, a robot controller was developed with the aim of reproducing the individual(More)
While a large number of robotic exoskeletons have been designed by research teams for rehabilitation, it remains rather difficult to analyse their ability to finely interact with a human limb: no performance indicators or general methodology to characterize this capacity really exist. This is particularly regretful at a time when robotics are becoming a(More)
Upper-limb impairment after stroke is caused by weakness, loss of individual joint control, spasticity, and abnormal synergies. Upper-limb movement frequently involves abnormal, stereotyped, and fixed synergies, likely related to the increased use of sub-cortical networks following the stroke. The flexible coordination of the shoulder and elbow joints is(More)
— One of the key features of upper limb exoskeletons is their ability to take advantage of the human arm kinematic redundancy in order to modify the subject's joint dynamics without affecting his/her hand motion. This is of particular interest in the field of neurorehabilitation, when an exoskeleton is used to interact with a patient who suffers from joint(More)
— Robotic exoskeletons can apply forces distributed on the limbs of the subject they are connected to. This offers a great potential in the field of neurorehabilitation, to address the impairment of interjoint coordination in hemiparetic stroke patients. In these patients, the normal flexible joint rotation synergies are replaced by pathological fixed(More)
— Robotic exoskeletons are increasingly being used for neurorehabilitation, due to a number of perceived advantages. Once such advantage is the potential to use the large amounts of previously unavailable measurements to provide continuous assessment of the patient. This study investigates the validity of such measurements through an experimental protocol.(More)
Since the late 1990s, there has been a burst of research on robotic devices for poststroke rehabilitation. Robot-mediated therapy produced improvements on recovery of motor capacity; however, so far, the use of robots has not shown qualitative benefit over classical therapist-led training sessions, performed on the same quantity of movements.(More)
— This paper deals with the problem of computing trajectories for an exoskeleton that match a motion recorded on a given subject. Literature suggests that this problem can be solved by reconstructing the subject's joint motion using one of the numerous models available, and then feeding the exoskeleton with the joint trajectories. This is founded on the(More)
This paper describes the design of "ArmSleeve", a patient monitoring system to support occupational therapists in their upper limb rehabilitation work with stroke patients. Occupational therapists can provide rehabilitation in clinics, but they have limited insights into how much their patients use their affected arm and hand in daily life, which is(More)
The emergence of lower-cost motion tracking devices enables home-based virtual reality rehabilitation activities and increased accessibility to patients. Currently, little documentation on patients' expectations for virtual reality rehabilitation is available. This study surveyed 10 people with stroke for their expectations of virtual reality rehabilitation(More)
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