Intelligent Systems, Robots and Devices for Healthcare and Rehabilitation

Dear Colleagues,

Over time, the motor skills of older adults and people with neuromuscular disorders gradually decline, affecting both movement speed and accuracy. Intelligent healthcare and biomedical systems have had a major impact on this field over the past decade and are expected to revolutionize rehabilitation and the treatment of movement disorders caused by aging, stroke, and neuromuscular diseases. How to assess and support motor improvement in this field is crucial.

This requires more quantitative methods based on the collection and processing of biological signals as well as control actuators to assist and resist for rehabilitation and healthcare systems.

Relevant are advances in neural signal acquisition, machine learning processes of neural signals, and computer as well as robotic technologies for assisting humans. These areas have the potential to support rehabilitation and healthcare strategies by providing standards for biomedical engineering.

We invite researchers to submit original research papers and review articles that address novel methods for rehabilitation that promote advances to help patients and older adults with motor impairments, including brain–machine interfaces, prosthetics, rehabilitation robots, and control actuators. These new methods promote the advancement of intelligent healthcare and biomedical systems.

Potential topics include, but are not limited to, the following:

• Actuator control methods for interactions between human and devices.
• Novel rehabilitation/healthcare systems.
• Assistive technologies for patients with motor control impairments.
• Personalized rehabilitation interfaces for adapted physical activity.
• New techniques using deep learning and machine learning.
• Internet of Medical Things (IoMT).
• Biomimetic robots and home support robots.

Dr. Duk Shin
Dr. JaeHyo Kim
Dr. Abdelkader Nasreddine Belkacem
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

• intelligent healthcare and biomedical systems
• rehabilitation
• actuator control
• biomimetic robots

Title: Real-time Motor Control using a Raspberry Pi, ROS, and CANopen over EtherCAT, with application to a Semi-Active Prosthetic Ankle
Authors: Peter Adamczyk
Affiliation: University of Wisconsin
Abstract: This paper focused on the implementation method and results of modifying a Raspberry Pi 4 for real-time control of brushless direct-current motors, with application in a semi-active two-axis ankle prosthesis. CANopen over EtherCAT was used to synchronize real-time communication between the Raspberry Pi and the motor controllers. Kinematic algorithms for setting ankle angles of zero to ten degrees in any combination of sagittal and frontal angles were implemented. To achieve reliable motor communication, where the motors continuously move, the distributed clock synchronization of Linux and Motor driver systems needs to have a specifically-tuned Proportional-Integral compensation and a consistent sampling period. Data collection involved moving the ankle through 33 unique pre-selected ankle configurations nine times. The system allowed for quick movement (mean settling time 0.192 sec), reliable synchronization (sampling period standard deviation 4.51 microseconds), and precise (mean movement error less than 0.2 deg) for ankle angle changes, and also high update rate (250 microsecond sampling period) with modest CPU load (12.48%). This system aims to allow the prosthesis to move within a single swing phase, enabling it to efficiently adapt to various speeds and terrains, such as walking on slopes, stairs, or around corners.

Title: Next-Generation Tools for Patient Care and Rehabilitation: A Review of Modern Innovations
Authors: Faisal Mehmood 1 , Nazish Mumtaz 2, and Asif Mehmood 3,∗
Affiliation: 1 Department of AI and Software, Gachon University, South Korea; [email protected]; 2 Department of Nano Science and Technology, Gachon University, South Korea; [email protected]; 3 Department of Biomedical Engineering, Gachon University, South Korea; [email protected] * Correspondence: [email protected];
Abstract: Abstract: The advent of next-generation tools has revolutionized the fields of patient care and rehabilitation, providing modern solutions to improve scientific outcomes and affected person studies. Powered through improvements in artificial intelligence, robotics, and smart devices, these improvements are reshaping healthcare with the aid of improving therapeutic approaches and personalizing treatments. In the world of rehabilitation, robotic devices and assistive technology are supplying essential help for people with mobility impairments, promoting more independence and healing. Additionally, wearable technology and actual-time tracking systems permit continuous fitness information monitoring, taking into consideration early analysis and extra effective, tailored interventions. In clinical settings, these modern-day innovations have automated diagnostics, enabled remote patient monitoring, and brought virtual rehabilitation systems that expand the reach of clinical experts. This assessment delves into the evolution, cutting-edge programs, and destiny potential of those equipment, examining their capability to deliver progressed care even as addressing growing needs for efficient healthcare solutions. Furthermore, this review explores the challenges related to their adoption, including ethical considerations, accessibility barriers, and the need for refined regulatory standards to ensure their safe and widespread use.

Title: Design, Fabrication, and Evaluation of a Prototype Exoskeleton for Arm Swing Training
Authors: Liam Hawthrone, Ali Faeghinejad, Babak Hejrati
Affiliation: University of Maine
Abstract: This paper presents the design, fabrication, and testing of a proof-of-concept arm swing rehabilitator exoskeleton (ASRE) to induce arm swing at different frequencies for integrating arm swing in gait training. Current exoskeletons mostly focus on the lower extremities for gait training, while the role of proper arm swing during walking and gait training is often overlooked. Also, limited research has been conducted to determine how much torque is needed to effect changes in arm swing parameters such as frequency and amplitude to provide a coordinated arm-leg response during gait training. The proposed prototype was designed to serve as a research tool to determine the amount of required torque to generate kinesthetic feedback at the users' arms and, thereby, induce appropriate arm swing patterns. To increase user comfort, the ASRE was designed with distal actuation, allowing the weight of the actuator to be supported on the user's back, with power being transferred to the arm through double parallelogram linkages, a novel pulley-belt system, and Bowden cables. We performed various evaluations including workspace analysis, static and dynamic load testing, and actuation frequency and amplitude evaluation. The results showed a large workspace with some limitations in shoulder internal and external rotation and with the capacity to generate torques of 10.74-15.09 N.m. The ASRE was found capable of producing actuation frequencies exceeding those of the average human arm swing. The goal of the ASRE was also to investigate the use of kinesthetic feedback to induce and alter arm swing through the evaluation of the subjects' responses to feedback. The results indicated that the ASRE was a successful experimental tool for exploring the feasibility of inducing arm swing at different frequencies and the use of kinesthetic feedback to do so.

Title: Technical Development of a Lower-limb Rehabilitation Device for Bed-resting Users
Authors: Juan Fang, Simón Gamero Schertenleib, Patrick von Raumer, Adrien Cerrito, Kai-Uwe Schmitt, Kenneth J. Hunt
Affiliation: Bern University of Applied Sciences, Quellgasse 21, Postfach CH-2501 Biel, Switzerland
Abstract: Patients with neurological disorders often have impairments in the lower limb function. A certain period of resting in bed is required. This work aims to develop a portable in-bed rehabilitation device that provides various training patterns for the foot and leg with interactive exergames. Based on the clinical interview, the user requirements of the device were determined. The in-bed lower-limb rehabilitation device consists of two compact foot platforms with integrated drive unit and a control box. A computer game was developed in Python. Using the automatic force control algorithms, the device produced flexion of the knee/hip joints, plantarflexion/dorsiflexion, and linear foot movement with active loading. A user interface with interactive computer game is developed to setup the target force, trajectory, control parameters and training results. After the evaluation test on 12 able-bodied participants, it was found that the device could be easily fixed on a bed. The motor control algorithms produced a mean force control error of 5.8% during linear movement of the foot. The computer game was considered to be interesting, engaging and responsive with the lower-limb training movement. It was concluded that the portable in-bed lower-limb rehabilitation device managed to offer various training patterns with satisfactory accuracies and the users were encouraged to practise with active participation.