Session
Interactive Session, INT1
10:45-12:15

Therapeutic
Robotics1

SchCodeWeBINT1.1
WeBINT1.2
WeBINT1.3
WeBINT1.4
WeBINT1.5

WeBINT1.6

WeBINT1.7

WeBINT1.8
WeBINT1.9
WeBINT1.10
WeBINT1.11
WeBINT1.12
Evaluation
and ClinicalExperience1

WeBINT1.13
WeBINT1.14

Title
Paper#
Soft Fluidic Actuators of Rotary Type for Safe Physical Human-Machine Interaction
91
Oleg Ivlev*
FWBI Research Company & University of Bremen [Germany]
Development of Isokinetic and Iso-Contractile Exercise Machine MEM-MRB" Using MR Brake "162
Kunihiko Oda* , Shiro Isozumi , Yuuki Ohyama , Kazuya Tamida , Takehito Kikuchi , Junji Furusho
Osaka Electro-Communication University [Japan]
Time Course of Abnormal Synergies of Stroke Patients Treated and Assessed by a Neuro-Rehabilitation Robot
23
Pin-Cheng Kung , Chou-Ching K Lin* , Ming-Shaung Ju , Shu-Min Chen
National Cheng Kung University Hospital [Taiwan]
Error-Enhanced Augmented Proprioceptive Feedback in Stroke Rehabilitation Training: A Pilot Study.
53
Birgit I. Molier* , Jacintha de Boer , G.B. (Gerdienke) Prange , Michiel J.A. Jannink
Roessingh Research & Development [Netherlands]
Rehabilitation of Grasping and Forearm Pronation/Supination with the Haptic Knob
148
Olivier Lambercy* , Ludovic Dovat , Hong Yun , Seng Kwee Wee , Christopher Wee Keong Kuah , Karen Sui
Geok Chua , Roger Gassert , Theodore Edgar Milner , Chee Leong Teo , Etienne Burdet
National University of Singapore [Singapore]
A Randomized Controlled Trial on the Recovery Process of Wrist Rehabilitation Assisted by Electromyography
85(EMG)-Driven Robot for Chronic Stroke
Xiaoling Hu , Kai Yu Tong* , Rong Song , Xiujuan Zheng , W.W.F. Leung
The Hong Kong Polytechnic University [China]
Development of Wrist Rehabilitation Equipment Using Pneumatic Parallel Manipulator -Acquisition of P.T.'s
100
Motion and Its Execution for Patient
Masahiro Takaiwa* , Toshiro Noritsugu
Okayama University [Japan]
Intermanual Transfer of Learning Reveals Representations in Simultaneous Extrinsic and Intrinsic Coordinate
135
Amit Meghani* , Jamie Burgess , James Patton
University of Illinois at Chicago [USA]
Analysis of Pick-And-Place, Eating and Drinking Movements for the Workspace Definition of Simple Robotic
211
Che Fai Yeong* , Alejandro Melendez , Etienne Burdet
Imperial College London [United Kingdom]
FES Artifact Suppression for Real-Time Tremor Compensation
94
Ferdinan Widjaja* , Cheng Yap Shee , Philippe Poignet , Wei Tech Ang
Nanyang Technological University [Singapore]
Upper Limb Rehabilitation of Stroke Participants Using Electrical Stimulation: Changes in Tracking and EMG
89
Ann-Marie Hughes* , Chris T Freeman , Jane Helena Burridge , Paul H Chappell , Paul L Lewin , Eric Rogers
Univeristy of Southampton [United Kingdom]
Design and Control of an Upper Arm FES Workstation for Rehabilitation
39
Chris T Freeman* , Ann-Marie Hughes , Jane Helena Burridge , Paul H Chappell , Paul L Lewin , Eric Rogers
Univeristy of Southampton [United Kingdom]
A Mobile Gait Monitoring System for Gait Analysis
30
JoonBum Bae* , Kyoungchul Kong , Nancy Byl , Masayoshi Tomizuka
Univeristy of California, Berkeley [USA]
Simulation of Clonic Movement with Leg-Robot Driven by Compact MR Fluid Clutch
41
Takehito Kikuchi* , Kunihiko Oda , Junji Furusho
Osaka University [Japan]

Interactive Session, INT1
10:45-12:15

WeBINT1.15

WeBINT1.16

WeBINT1.17

WeBINT1.18

Robotics for
WeBINT1.19
Human-Motion
Analysis1
WeBINT1.20

WeBINT1.21

WeBINT1.22

WeBINT1.23
WeBINT1.24
WeBINT1.25
WeBINT1.26

Rehabilitation Control Strategies for Gait Robot Via EMG Evaluation and Quantification
Ping Wang , K. H. Low* , Hup Boon Lim , Adela Tow
Nanyang Technological University [Singapore]
Effects of an Upper Limb Robot-Mediated Therapy on Paretic Upper Limb in Chronic Hemiparetic Subjects: A
Biomechanical and EEG-Based Approach for Functional Assessment
Stefano Mazzoleni* , Martina Coscia , Giulia Rossi , Sara Aliboni , Federico Posteraro , Maria Chiara Carrozza
Scuola Superiore Sant'Anna [Italy]
T-TOAT: A Method of Task-Oriented Arm Training for Stroke Patients Suitable for Implementation of
Exercises in Rehabilitation Technology
Annick. A. A. Timmermans* , Richard P. J. Geers , Johan A. Franck , Paul Dobbelsteijn , Annemie I.F. Spooren ,Herman Kingma , Henk A.M. Seelen
Rehabilitation Foundation Limburg (SRL) [Netherlands]
Acceptability of Robot Assisted Active Arm Exercise As Part of Rehabilitation after Stroke
Andrew Edward Jackson* , Sophie Makower , Peter Robert Culmer , Ray Holt , Alastair Cozens , Martin
Levesley , Bipin Bhakta
University of Leeds [United Kingdom]
Realtime Identification Software for Human Whole-Body Segment Parameters Using Motion Capture and Its
Visualization Interface
Gentiane Venture* , Ko Ayusawa , Yoshihiko Nakamura
Tokyo University of Agriculture and Technology [Japan]
Waseda Bioinstrumentation System #3 As a Tool for Objective Rehabilitation Measurement and Assessment Development of the Inertial Measurement Unit Salvatore Sessa* , Massimiliano Zecca , Zhuohua Lin , Tomoya Sasaki , Kazuko Itoh , Atsuo Takanishi
Waseda University [Japan]
Development of Mechanical Load Adjusting Device with Motion Measurement Interface for Robotic Assistive
Rehabilitation System
Toru Tsumugiwa* , Yuki Watanabe , Ryuichi Yokogawa
Doshisha University [Japan]
MIMICS: Multimodal Immersive Motion Rehabilitation of Upper and Lower Extremities by Exploiting
Biocooperation Principles
Marko Munih* , Robert Riener , Gery Colombo , Volker Dietz , Lars Lunenburger , Friedemann Mueller , Mel
Slater , Matjaž Mihelj
University of Ljubljana [Slovenia]
Motor Task Planning for Neuromuscular Function Tests Using an Individual Muscle Control Technique
Jun Ueda* , Moiz Hyderabadwala
Georgia Institute of Technology [USA]An Automated Metrics Set for Mutual Adaptation between Human and Robotic Device
Dana Damian* , Alejandro Hernandez Arieta , Max Lungarella , Rolf Pfeifer
University of Zurich [Switzerland]
Stochastic Estimation of Human Arm Impedance under Nonlinear Friction in Robot Joints: A Model Study
Pyung Hun Chang , Sang Hoon Kang*
KAIST [Korea, South]
Visuo-Manual Tracking in a Robot-Generated Dynamic Environment
Valentina Squeri* , Lorenzo Masia , Elena Vergaro , Maura Casadio , Pietro Giovanni Morasso , Vittorio
Università di Genova [Italy]

109
81

104

117

31

187

102

120

146
37
98
126

Interactive Session, INT1
10:45-12:15

Artificial
Human
Exoskeletons
1

WeBINT1.27
WeBINT1.28
WeBINT1.29
WeBINT1.30
WeBINT1.31
WeBINT1.32
WeBINT1.33

Interactive Session, INT2
15:15-16:45

Cybernics

WeDINT2.1
WeDINT2.2
WeDINT2.3
WeDINT2.4
WeDINT2.5
WeDINT2.6

Artificial
Human
Exoskeletons
2

WeDINT2.7
WeDINT2.8

Design of a Single-Dof Active Hand Orthosis for Neurorehabilitation
Giulio Rosati* , Stefano Cenci , Giovanni Boschetti , Damiano Zanotto , Stefano Masiero
University of Padua [Italy]
Design of a Flexible Fluidic Actuation System for a Hybrid Elbow Orthosis
Christian Pylatiuk* , Artem Kargov , Immanuel Gaiser , Tino Werner , Stefan Schulz , Georg Bretthauer
Forschungszentrum karlsruhe gmbh [Germany]
Orthopaedic Rehabilitation - a Powered Elbow Orthosis Using Compliant Actuation
Innes Vanderniepen* , Ronald Van Ham , Dirk Lefeber
Vrije Universiteit Brussel [Belgium]
Mechanical Designs of Active Upper-Limb Exoskeleton Robots State-Of-The-Art and Design Difficulties
Ranathunga Arachchilage Ruwan Chandra Gopura , Kazuo Kiguchi*
Saga University [Japan]
Development of a New Exoskeleton for Upper Limb Rehabilitation
Rocco Vertechy* , Antonio Frisoli , Andrea Dettori , Massimiliano Solazzi , Massimo Bergamasco
Scuola Superiore Sant' Anna [Italy]
Finger Exoskeleton for Treatment of Tendon Injuries
Hakan Ertas , Elif Hocaoglu , Duygun Erol Barkana , Volkan Patoglu*
Sabanci University [Turkey]
Design of Redundant Drive Joint with Adjustable Stiffness and Damping to Improve Joint AdmittanceKiyoshi Nagai , Yosuke Ikegami* , Rui C. V. Loureiro , William Harwin
Ritsumeikan University [Japan]
Standing-Up Motion Support for Paraplegic Patient with Robot Suit HAL
Atsushi Tsukahara* , Yasuhisa Hasegawa , Yoshiyuki Sankai
University of Tsukuba [Japan]
Gait Rehabilitation for Stair Climbing with a Locomotion Interface
Hiroaki Yano* , Shintarou Tamefusa , Naoki Tanaka , Hideyuki Saitou , Hiroo Iwata
University of Tsukuba [Japan]
Fingertip Stiffness Control Using Polyarticular Tendon Drive System
Masahiro Iwaki* , Yasuhisa Hasegawa , Yoshiyuki Sankai
University of Tsukuba [Japan]
Analysis of Surface EMG Signal Based on Empirical Mode Decomposition
Min Lei*Shanghai Jiao Tong University [China]
Position Control of SMA Actuator for 3D Tactile Display
Teeranoot Chanthasopeephan*
King Mongkut's University of Technology Thonburi [Thailand]
Multichannel Audio Aided Dynamical Perception for Prosthetic Hand Biofeedback
Jose Eduardo Gonzalez Vargas* , Wenwei Yu
Chiba University [Japan]
Design of a Joint-Coupled Orthosis for FES-Aided Gait
Ryan Farris* , Hugo Quintero , Thomas Withrow , Michael Goldfarb
Vanderbilt University [USA]Gait Trials of an Active AFO for Achilles Tendon Ruptures
Nobuyuki Yoshizawa*
Nippon Institute of Technology [Japan]

111
124
198
20
173
191
214
95
206
205
60
110
149
28
34

Interactive Session, INT2
15:15-16:45

WeDINT2.9
WeDINT2.10
WeDINT2.11
WeDINT2.12
WeDINT2.13
Neural-Machine WeDINT2.14
Interfaces& Control
WeDINT2.15
WeDINT2.16
WeDINT2.17
WeDINT2.18

WeDINT2.19

WeDINT2.20
WeDINT2.21
WeDINT2.22
WeDINT2.23

Design of a Reconfigurable Ankle Rehabilitation Robot and Its Use for the Estimation of Ankle Impedance
Aykut Cihan Satici , Ahmetcan Erdogan , Volkan Patoglu*
Sabanci University [Turkey]
Gait and Neuromuscular Learning Effects through the Use of a Gait Monitoring System
Jody L. Riskowski*
University of Texas at El Paso [USA]Gait Planning for Effective Rehabilitation - from Gait Study to Application in Clinical Rehabilitation
K. H. Low*
Nanyang Technological University [Singapore]
Safe and Compliant Guidance in Robot-Assisted Gait Rehabilitation Using Proxy-Based Sliding Mode Control
Pieter Beyl* , Micha・ Van Damme , Pierre Cherelle , Dirk Lefeber
Vrije Universiteit Brussel [Belgium]
Monitoring Method of Interactive Torque between Human and Robot in Exoskeleton Systems
Beomsoo Hwang , Hyosang Moon*
Sogang university [Korea, South]
Estimation of Finger Joint Angles from Semg Using a Recurrent Neural Network with Time-Delayed Input
Masaaki Hioki* , Haruhisa Kawasaki
GifuUniversity [Japan]
Human Forearm Motion Discrimination Based on Myoelectric Signal by Fuzzy Inference
Atsushi Kiso* , Hirokazu Seki
Chiba Institute of Technology [Japan]
Comparison of Surface EMG Monitoring Electrodes for Long-Term Use in Rehabilitation Device Control
Christian Pylatiuk* , Meinolf M・ler-Riederer , Artem Kargov , Stefan Schulz , Georg Bretthauer
Forschungszentrum karlsruhe gmbh [Germany]
Thumb-Tip Force Estimation from Semg and a Musculoskeletal Model for Real-Time Finger Prosthesis
Wonil Park , Suncheol Kwon , Hae-Dong Lee , Jung Kim*
KAIST [Korea, South]
A Study on Classification of Upper Limb Motions from Around-Shoulder Muscle Activities
Yuse Horiuchi* , Wenwei Yu
Chiba Univ [Japan]
Fundamental Research about Electroencephalogram (EEG) - Functional Electrical Stimulation (FES)
Rehabilitation System
Mitsuru Takahashi* , Manabu Gouko , Koji Ito
Tokyo Institute of Technology [Japan]
Evaluation of the Bremen SSVEP Based BCI in Real World Conditions
Ivan Volosyak* , Hubert Cecotti , Diana Valbuena , Axel Gräer
University of Bremen [Germany]
Wearable Stimulator for SSVEP-Based Brain-Computer Interfaces
Thorsten Lüth* , Axel Gräer
University of Bremen [Germany]
Motor Imagery in Robot-Assistive Rehabilitation: A Study with Healthy Subjects
Muhammad Nabeel Anwar* , Vittorio Sanguineti , Pietro Giovanni Morasso , Koji Ito
Tokyo Institute of Technology [Japan]
Environment Discrimination with Vibration Feedback to the Foot, Arm, and Fingertip
Netta Gurari* , Kathryn Smith , Manu Madhav , Allison M. Okamura
Johns Hopkins University [USA]

156
65
57
165
210
43
72
87
152
209
84

123
113
119
164

Interactive Session, INT2
15:15-16:45

Therapeutic
Robotics2

WeDINT2.24

WeDINT2.25
WeDINT2.26
WeDINT2.27
WeDINT2.28
WeDINT2.29

WeDINT2.30
WeDINT2.31
WeDINT2.32
WeDINT2.33
Interactive Session, INT3
10:45-12:15

Biocooperative
Robotics

ThBINT3.1
ThBINT3.2
ThBINT3.3
ThBINT3.4

Novel Home-Based Rehabilitation Device to Prevent Secondary Diseases for Patients with Spinal Cord Injury
Noritaka Kawashima* , Rie Suzuki , Kimitaka Nakazawa , Yuji Ohta
Research Inst., National Rehabilitation Center forPersonswith Disability [Japan]
Real-Time Fuzzy Trajectory Generation for Robotic Rehabilitation TherapyPeter Martin , M. Reza Emami*
University of Toronto [Canada]
Discussion of Sling Control Simulation in Feedback Type Gait Training System
Hidetaka Ikeuchi* , Shingo Takiyama , Yukio Saito
Oita University [Japan]
Adaptive Control of an Endeffector Based Electromechanical Gait Rehabilitation Device
Sami Hussein* , Henning Schmidt , Jörg Krüger
TU Berlin [Germany]Interaction Control of a Programmable Footpad-Type Gait Rehabilitation Robot for Active Walking on Various
Bondhan Novandy* , Jungwon Yoon
Gyeongsang National University [Korea, South]
Effects of a Robot-Mediated Locomotor Training on EMG Activation in Healthy and SCI Subjects
Stefano Mazzoleni* , Giulia Stampacchia , Emanuele Cattin , Eleonora Bradaschia , Martina Tolaini , Bruno Rossi, Maria Chiara Carrozza
Scuola Superiore Sant'Anna [Italy]
A New Robotic Platform for Gait Rehabilitation of Bedridden Stroke Patients
Vito Monaco* , Giuseppe Galardi , Je Hyung Jung , Sergio Bagnato , Cristina Boccagni , Silvestro Micera
ARTS Lab, Scuola Superiore Sant'Anna [Italy]
Influence on Walking Dynamics of a Gait Training Device That Is Connected through a Lumbar Belt
Jan Veneman* , Dejan Popovic , Thierry Keller
Fatronik-Tecnalia [Spain]
MotionTherapy@Home ・a Robotic Device for Automated Locomotion Therapy at Home
Ruediger Rupp* , Harry Plewa , Eberhard Hofer , Markus Knestel
Orthopedic University Hospital [Germany]
Increases in Overground Gait Speed with Body Weight Support in People Post-Stroke
Jamie Burgess*, Gwendolyn Weibel, David Brown
Northwestern University [USA]
Bio-Cooperative Robotics: Controlling Mechanical, Physiological and Mental Patient States
Robert Riener* , Alexander Christian Koenig , Bolliger Marc , Martin Wieser , Alexander Duschau-Wicke , HeikeETH Zurich [Switzerland]
Adaptive Body Weight Support Controls Human Activity During Robot-Aided Gait Training
Alexander Duschau-Wicke* , Simon Felsenstein , Robert Riener
ETH Zurich [Switzerland]
Voluntary Gait Speed Adaptation for Robot-Assisted Treadmill Training
Alexander Christian Koenig* , Carmen Binder , Joachim v. Zitzewitz , Ximena Omlin , Bolliger Marc , Robert
ETH Zurich [Switzerland]
Biocooperation in Rehabilitation Robotics of Upper Extremities
Marko Munih* , Domen Novak , Tadej Bajd , Matjaž Mihelj
University of Ljubljana [Slovenia]

118

136
93
195
122
79

115
108
176
137
36
32
68
52

ThBINT3.5

Interactive Session, INT3
10:45-12:15

ThBINT3.6
Mental andPhysicalRehabilitation
Engineering

ThBINT3.7

ThBINT3.8
ThBINT3.9
ThBINT3.10
ThBINT3.11
ThBINT3.12
ThBINT3.13
ThBINT3.14
Assistive
Robotics1

ThBINT3.15
ThBINT3.16
ThBINT3.17
ThBINT3.18
ThBINT3.19

Haptic Training of Lower Extremities Enhanced by Visual Modality
Tomaz Koritnik* , Alexander Christian Koenig , Tadej Bajd , Robert Riener , Marko Munih
University of Ljubljana [Slovenia]
A Universal Haptic Device for Arm and Wrist Rehabilitation
Jakob Oblak* , Imre Cikajlo , Zlatko Matjačić
Institute for rehabilitation [Slovenia]
Methodological Consideration for the Recruitment of Upper Limb Muscles During Two Joint Arm Movements
Tasuku Miyoshi* , Yoshiyuki Takahashi , Lee Hokyoo , Masaki Yamaguchi , Takashi Komeda
Iwate University [Japan]
Mental Health Evaluation Using Chemical Sensor As Human-Machine Interface
Yusuke Tahara* , Takayuki Takahashi , Kazunori Takeda , Tasuku Miyoshi , Masaki Yamaguchi
Iwate University [Japan]
A Study on Power-Assisted Rehabilitation Robot Arms Operated by Patient with Upper Limb Disabilities
Atushi Umemura* , Yukio Saito
Tokyo Denki University [Japan]
Development of Oral Rehabilitation Robot WAO-1R Designed to Provide Various Massage Techniques
Jorge Solis* , Yuichi Obokawa , Hiroyuki Ishii , Hiroki Koga , Atsuo Takanishi , Akitoshi Katsumata
Waseda University [Japan]
Integration of Error Augmentation Training Method to an Assistive Controller for Rehabilitation Robotic
Furui Wang* , Duygun Erol Barkana , Nilanjan Sarkar
Vanderbilt University [USA]Patient-Tracking for an Over-Ground Gait Training System
Tobias Nef* , David Brennan , Iian Black , Joe Hidler
The Catholic University of America [USA]
Negative Viscosity Can Enhance Learning of Inertial Dynamics.
Felix Huang* , James Patton , Ferdinando Mussa-Ivaldi
Rehabilitation Institute of Chicago [USA]Development of an Isokinetic FES Leg Stepping Trainer (iFES-LST) for Individuals with Neurological Disability
Nur Azah Hamazaid* , Che Fornusek , Andrew Ruys , Glen Davis
The University of Sydney [Australia]
Estimation of Intention of User Arm Motion for the Proactive Motion of Upper Extremity Supporting Robot
Taisuke Sakaki* [Japan]
Kyushu Sangyo University
Development of a Human Symbiotic Assist Arm PAS-Arm
Mineo Higuchi* , Tsukasa Ogasawara
Mitsubishi Electric Corporation [Japan]
Tremor Suppression Control of Meal-Assist Robot with Adaptive Filter
Eiichi Ohara , Ken'ichi Yano* , Satoshi Horihata , Takaaki Aoki , Yutaka Nishimoto
Gifu University [Japan]
An Empirical Study with Simulated ADL Tasks Using a Vision-Guided Assistive Robot Arm
Dae-Jin Kim* , Ryan Lovelett , Aman Behal
University of Central Florida [USA]A List of Household Objects for Robotic Retrieval Prioritized by People with ALS
Young Sang Choi*, Travis Deyle, Tiffany Chen, Jonathan Glass, Charlie Kemp
Georgia Institute of Technology [USA]

35
50
21

66
160
103
76
138
139
96
40
58
97
143
199

ThBINT3.20

Interactive Session, INT3
10:45-12:15

ThBINT3.21
ThBINT3.22
ThBINT3.23
Therapeutic
Robotics3

ThBINT3.24
ThBINT3.25
ThBINT3.26
ThBINT3.27

ThBINT3.28

ThBINT3.29
Evaluation
and ClinicalExperience2

ThBINT3.30

ThBINT3.31
ThBINT3.32
ThBINT3.33
ThBINT3.34

Design, Simulation and Testing of a New Modular Wheelchair Mounted Robotic Arm to Perform Activities ofPeter Schrock , Fabian Farelo , Redwan Alqasemi* , Rajiv Dubey
University of South Florida [USA]A Universal Mobile Robot for Assistive Tasks
Motoki Takagi* , Yoshiyuki Takahashi , Takashi Komeda
Shibaura Institute of Technology [Japan]
Robotic Assistance with Attitude: A Mobility Agent for Motor Function Rehabilitation and Ambulation Support
Jaime Valls Miro* , Vivien Osswald , Mitesh Patel , Gamini Dissanayake
University of Technology Sydney [Australia]
Generalized Elasticities Improve Patient-Cooperative Control of Rehabilitation Robots
Heike Vallery* , Alexander Duschau-Wicke , Robert Riener
ETH Zurich [Switzerland]
MIT-Skywalker
Caitlyn Joyce Bosecker , Hermano Igo Krebs*
MIT [USA]
Design of a New Lower Extremity Orthosis for Overground Gait Training with the WalkTrainer
Yves Allemand* , Yves Stauffer , Reymond Clavel , Roland Brodard
Fondation Suisse pour les Cyberthèses (FSC) [Switzerland]
Control System for Lower Limb Function Training Device by Using Internal Model Control
Ryoichi Suzuki* , Nobuaki Kobayashi , Eberhard Hofer
Kanazawa Institute of Technology [Japan]
Design and Control of Two Planar Cable-Driven Robots for Upper-Limb Neurorehabilitation
Giulio Rosati* , Damiano Zanotto , Riccardo Secoli , Aldo Rossi
University of Padua [Italy]
Development of Evaluation System of the Motor Function for Upper Limbs Using 3-D Rehabilitation Robot
EMUL" and Near-Infrared Spectroscopy "NIRS""
Makoto Haraguchi* , Takehito Kikuchi , Masahito Mihara , Megumi Hatakenaka , Ichiro Miyai , Junji Furusho
Osaka University [Japan]
Modular Robotics for Playful Physiotherapy
Henrik Hautop Lund*
Technical University of Denmark [Denmark]
Arm Training in Multiple Sclerosis Using Phantom: Clinical Relevance of Robotic Outcome Measures
Peter Feys* , Geert Alders , Domien Gijbels , Karin Coninx , Chris Raymaekers , Joan De Boeck , Tom Deweyer, Veronik Truyens , Patric Groenen , Hans Savelberg , Kenneth Meijer , Bert Eijnde O
University College (PHL) and University of Hasselt [Belgium]
A User-Centered Evaluation Study of a Mobile Arm Support
Katarina Lund , Richard Brandt , Gert Jan Gelderblom , Just Herder*
Delft University of Technology [Netherlands]
Tracking and Analysis of Human Head Motion During Guided Fmri Motor Tasks
Ningbo Yu* , Robert Riener
ETH Zurich [Switzerland]
Intuitiveness Facilitates Rehabilitation: Clinical Results
Ludovic Saint-Bauzel* , Viviane Pasqui , Isabelle Monteil
Université Pierre et Marie Curie-Paris6 [France]
Selective and Adaptive Robotic Support of Foot Clearance for Training Stroke Survivors with Stiff Knee Gait
Edwin van Asseldonk* , bram koopman , Jaap Buurke , Corien Simons , Herman Van der Kooij
University of Twente [Netherlands]

217
56
147
64
69
75
128
114
153

150
47

186
38
121
158

Interactive Session, INT4
16:00-17:30

Robotics for
Caregiving

ThDINT4.1
ThDINT4.2
ThDINT4.3

ThDINT4.4

ThDINT4.5
Mechatronics
in Prosthetics

ThDINT4.6
ThDINT4.7
ThDINT4.8
ThDINT4.9

ThDINT4.10

ThDINT4.11
ThDINT4.12
ThDINT4.13

Development of Multi-Functional Robotic Test-Bed for Post-Surgical Healthcare RoomFeng-Li Lian*
National Taiwan University [Taiwan]
Unrestraint Support Robot for Elderly Gait Rehabilitation
Makoto Nokata* , Wataru Hirai
Ritsumeikan University [Japan]
A Proposal of a Method to Reduce Burden of Excretion Care Using Robot Technology
Keiko Homma*, Yoji Yamada, Osamu Matsumoto, Eiichi Ono, Suwoong Lee, Mikio Horimoto, Takahiro Suzuki,
Noriyuki Kanehira, Toshiaki Suzuki, Shinichiro Shiozawa
National Institute of AdvancedIndustrialScienceandTechnology (AIST) [Japan]
Self-Aided Manipulator System for Bed-Ridden Patients - Evaluation of Psychological Influence for the
Generated Approach Motion Akihiko Hanafusa* , Johta Sasaki , Teruhiko Fuwa , Tomozumi Ikeda
Shibaura Institue of Technology [Japan]
A First Step towards a Pervasive and Smart ZigBee Sensor System for Assistance and Rehabilitation
Filippo Cavallo* , Michela Aquilano , Luca Odetti , Maria Chiara Carrozza
Scuola Superiore Sant'Anna - Pisa [Italy]
Self-Contained Powered Knee and Ankle Prosthesis: Initial Evaluation on a Transfemoral AmputeeFrank Sup* , Huseyin Atakan Varol , Jason Mitchell , Thomas Withrow , Michael Goldfarb
Vanderbilt University [USA]Powered Sit-To-Stand and Assistive Stand-To-Sit Framework for a Powered Transfemoral Prosthesis
Huseyin Atakan Varol* , Frank Sup , Michael Goldfarb
Vanderbilt University [USA]Successful Walking with a Biologically-Inspired Below-Knee Prosthesis
Rino Versluys* , Ronald Van Ham , Innes Vanderniepen , Dirk Lefeber
Vrije Universiteit Brussel [Belgium]
Powered Ankle-Foot System That Mimics Intact Human Ankle Behavior: Proposal of a New Concept
Rino Versluys* , Arnout Matthys , Ronald Van Ham , Innes Vanderniepen , Dirk Lefeber
Vrije Universiteit Brussel [Belgium]
Precise Position and Trajectory Control of Pneumatic Soft-Actuators for Assistance Robots and Motion
Therapy Devices
Mathias Jordan , Dennis Pietrusky , Miroslav Mihajlov , Oleg Ivlev*
FWBI Research Company & University of Bremen [Germany]
Feasibility Study of a New Powered Humeral Rotator for Upper Limb Myoelectric Prostheses
Raffaele Caminati , Marco Troncossi* , Angelo Davalli , Vincenzo Parenti Castelli
University of Bologna [Italy]
Design of a Multifunctional Anthropomorphic Prosthetic Hand with Extrinsic Actuation
Skyler Dalley* , Tuomas Wiste , Thomas Withrow , Michael Goldfarb
Vanderbilt University [USA]
Progress Towards the Development of the SmartHand Transradial Prosthesis
Christian Cipriani* , Marco Controzzi , Maria Chiara Carrozza
Scuola Superiore Sant'Anna [Italy]

16
105
144

159

215
24
80
133
134
92

170
181
33

Interactive Session, INT4
16:00-17:30

ThDINT4.15
Robotics for
Human-Motion
Analysis2
ThDINT4.16
ThDINT4.17
ThDINT4.18
ThDINT4.19

ThDINT4.20

Assistive
Robotics2

ThDINT4.21
ThDINT4.22

ThDINT4.23

ThDINT4.24
ThDINT4.25
Therapeutic
Robotics4

ThDINT4.26

ThDINT4.27

Tracking Target Motion under Combined Visual and Kinesthetic Disturbance
Lorenzo Masia* , Valentina Squeri , Maura Casadio , Pietro Giovanni Morasso , Vittorio Sanguineti , Giulio
Italian Institute of Technology [Italy]
The Development of an Assistive Robot for Improving the Joint Attention of Autistic Children
Ravindra Senarathna De Silva* , Katsunori Tadano , Azusa Saito , Stephen G. Lambacher , Masatake Higashi
Toyota Technological Institute [Japan]
Dynamical Role Division between Two Subjects in a Crank-Rotation Task
Ryohei Ueha* , Hang Pham , Hiroaki Hirai , Fumio Miyazaki
Osaka University [Japan]
An Artificial Reflex Improves the Perturbation-Resistance of Normal and Spastic Walking - a Simulation Study
Yu Ikemoto* , Wenwei Yu , Jun Inoue
Chiba University [Japan]
Adaptation to Knee Flexion Torque During GaitJames Sulzer* , Keith Edward Gordon , T. George Hornby , Michael Peshkin , James Patton
Northwestern University/Rehabilitation Institute of Chicago [USA]Torque Estimation System for Human Leg in Passive Motion Using Parallel-Wire Driven Mechanism and
Iterative Learning Control
Hitoshi Kino* , Kenichi Saisyo , Yasuhiko Hatanaka , Sadao Kawamura
Fukuoka Institute of Technology [Japan]
Fuzzy Logic Based Regenerative Braking Control System of Electric Wheelchair for Senior Citizen
Yoshiaki Takahashi* , Hirokazu Seki
Chiba Institude of Technology [Japan]
Adaptive Collaborative Assistance for Wheelchair Driving Via CBR Learning
Cristina Urdiales* , Jose Manuel Peula Palacios , Manuel Fernandez-Carmona , Roberta Annicchiarico ,Francisco Sandoval , Carlo Caltagirone
Universidad de Málaga [Spain]
Efficiency Based Collaborative Control Modulated by Biometrics for Wheelchair Assisted Navigation
Manuel Fernandez-Carmona* , Blanca Fernández-Espejo , Jose Manuel Peula Palacios , Cristina Urdiales ,Francisco Sandoval
Universidad de Málaga [Spain]
Controlling an Automated Wheelchair Via Joystick/Head-Joystick Supported by Smart Driving AssistanceThomas Röfer* , Christian Mandel , Tim Laue
Deutsches Forschungszentrum für Künstliche Intelligenz [Germany]
Detection Mechanism of Manipulation Torque for One Hand Drive Wheelchair with a Triple Ring
Kazuaki Sakai* , Toshihiko Yasuda , Katsuyuki Tanaka
Northeastern Industrial Research Center [Japan]
Reach & Grasp Therapy: Effects of the Gentle/G System Assessing Sub-Acute Stroke Whole-Arm
Rehabilitation
Rui C. V. Loureiro* , Bob Lamperd , Christine Collin , William Harwin
The University of Reading [United Kingdom]
Developing a whole-arm exoskeleton robot with Hand Opening and Closing Mechanism for Upper Limb Stroke
Rehabilitation
Yupeng Ren , Hyung-Soon Park , Li-Qun Zhang*
Rehabilitation Institute of Chicago/Northwestern University [USA]

125
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55

70
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88

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ThDINT4.28

Interactive Session, INT4
16:00-17:30

ThDINT4.29
ThDINT4.30

ThDINT4.31

ThDINT4.32

Interactive Session, INT5
11:00-12:30

FrBINT5.1
Robotics for
Human-Motion
Analysis3
FrBINT5.2

FrBINT5.3

FrBINT5.4
FrBINT5.5
FrBINT5.6
FrBINT5.7
Evaluation
and ClinicalExperience3

FrBINT5.8

Enhancing Exploratory Learning Behaviour in People with Stroke Undertaking Ipam Robot Assisted Upper Limb
Peter Robert Culmer* , Andrew Edward Jackson , Sophie Makower , Robert Richardson , Alastair Cozens ,Martin Levesley , Bipin Bhakta
University of Leeds [United Kingdom]
Assessment and Training of Synergies with an Arm Rehabilitation Robot
Marco Guidali* , Mark Schmiedeskamp , Verena Klamroth , Robert Riener
ETH Zurich [Switzerland]Interactive Rehabilitation Robot for Hand Function Training
Mo Chen , S.K. Ho , H.F. Zhou , P.M.K. Pang , Xiaoling Hu , David T.W. Chan , Kai Yu Tong*
The Hong Kong Polytechnic University [China]
Hybrid-PLEMO", Rehabilitation System for Upper Limbs with Active / Passive Force Feedback, and Its
Application for Facilitation Techniques "Takehito Kikuchi* , Takuya Ozawa , Hiroki Akai , Junji Furusho
Osaka University [Japan]
Development of Rehabilitation Support Robot for Personalized Rehabilitaion of Upper Limbs
Yuichi Furuhashi* , Yoshifumi Morita
Nagoya Institute of Technology [Japan]

Impact of Visual Error Augmentation Methods on Task Performance and Motor Adaptation
Ozkan Celik* , Dane Powell , Marcia O'Malley
Rice University [USA]
Validation of a Smooth Movement Model for a Human Reaching Task
Joel C. Huegel* , Andrew Lynch , Marcia O'Malley
Rice University [USA]
Shoulder, Elbow and Wrist Stiffness in Passive Movement and Their Independent Control in Voluntary
Movement Post Stroke
Li-Qun Zhang* , Hyung-Soon Park , Yupeng Ren
Rehabilitation Institute of Chicago/Northwestern University [USA]Characterization of Multi-Finger Twist Motion Toward Robotic Rehabilitation
Reinhold Scherer* , Sujata Pradhan , Daniel Kim , Brian Dellon , Roberta Klatzky , Yoky Matsuoka
University of Washington [USA]An Approach to Sensor Fusion in Medical Robots
John Avor* , Thompson Sarkodie-Gyan
University of Texas at El Paso [USA]Gait Variability While Walking with Three Different Speeds
Huiying Yu* , Jody L. Riskowski , Thompson Sarkodie-Gyan
University of Texas at El Paso [USA]
Optimization of Diagnosis and Therapy in Human Gait
Thompson Sarkodie-Gyan*
University of Texas at El Paso [USA]
Rehabilitation Robotics in Robotics for Healthcare; a Roadmap Study for the European Commission
Gert Jan Gelderblom* , Monique de Wilt , Ger Cremers , Arjan Rensma
Vilans [Netherlands]

106

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145

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15
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216
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FrBINT5.9

Interactive Session, INT5
11:00-12:30

FrBINT5.10
FrBINT5.11
FrBINT5.12

FrBINT5.13

FrBINT5.14

FrBINT5.15

FrBINT5.16

FrBINT5.17
FrBINT5.18
the Use of
Robots inPlay forChildren with
Disabilities

FrBINT5.19

FrBINT5.20

FrBINT5.21

Walking Speed and Slope Estimation Using Shank-Mounted Inertial Measurement Units
Qingguo li* , Mei Young , Veronica Naing , Max Donelan
Queen's University [Canada]
Effect of Different Training Modes on Ground Reaction Forces During Robot Assisted Floor Walking and Stair
Sami Hussein* , Henning Schmidt , Stefan Hesse , Jörg Krüger
TU Berlin [Germany]
Walking Analysis of a Dual-Track Treadmill Using a Foot-Platform Locomotion Interface
Jungwon Yoon* , Jeha Ryu
Gyeongsang National University [Korea, South]
Intelligently Controllable Ankle Foot Orthosis (I-AFO) and Its Application for a Patient of Guillain-Barre
Sosuke Tanida* , Takehito Kikuchi , Taigo Kakehashi , Kikuko Otsuki , Takuya Ozawa , Takamitsu Fujikawa ,Takashi Yasuda , Junji Furusho , Shoji Morimoto , Yasunori Hashimoto
Osaka University [Japan]
Clinical Evaluation of a Low--Cost Alternative for Stroke Rehabilitation
Luis Enrique Sucar* , Ronald Leder
Instituto Nacional de Astrafisica, Optica y Electraonica [Mexico]
An Explorative Study into Changes in Reach Performance after Gravity Compensation Training in Chronic
Stroke Patients
G.B. (Gerdienke) Prange* , Thijs Krabben , G.J. Renzenbrink , Jacintha de Boer , Hermie J Hermens , Michiel
J.A. Jannink
Roessingh Research & Development [Netherlands]
Initial Clinical Tests for Assessment Models of Synergy Movements of Stroke Patients Using PLEMO Systemwith Sensor Grip Device
Takuya Ozawa* , Takehito Kikuchi , Kazuki Fukushima , Fukuda Takahiro , Sosuke Tanida , Takamitsu Fujikawa ,Shigeaki Kano , Hirokiakai , Junji Furusho
Osaka University [Japan]
Developing a User Interface for the iPAM Stroke Rehabilitation System
Stephanie Kemna* , Peter Robert Culmer , Andrew Edward Jackson , Sophie Makower , Justin Francis
Gallagher , Ray Holt , Fokie Cnossen , Alastair Cozens , Martin Levesley , Bipin Bhakta
University of Groningen [Netherlands]
Relation between Ability to Track Force During Dual Tasking and Function in Individuals with Parkinson's
Sujata Pradhan* , Bambi Brewer , George Carvell , Patrick Sparto , Anthony Delitto , Yoky Matsuoka
University of Washington [USA]
Audio Image Rendering for the Severely Visually Impaired
Sepideh Hajipour , Niloufar Babapour Khosravi , Edmond Zahedi*
Sharif University of Technology [Iran]
Modular Playware as a Playful Diagnosis Tool for Autistic Children
Henrik Hautop Lund*
Technical University of Denmark [Denmark]Supporting Narrative Understanding of Children with Autism: A Story Interface with Autonomous Autobiographic
AgentsWan Ching Ho* , Megan Davis , Kerstin Dautenhahn
University of Hertfordshire [United Kingdom]
A Unified, Neuro-Physio Platform to Facilitate Collaborative Play in Children with Learning Disabilities
Subhasis Banerji , Kok Hui, John Heng*
Nanyang Technological University [Singapore]

63
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141
129

74

163

140
29
51
82

127

FrBINT5.22

Interactive Session, INT5
11:00-12:30
Companion
Robots inEldercare

FrBINT5.23
FrBINT5.24

FrBINT5.25

Therapeutic
Robotics5

FrBINT5.26

FrBINT5.27
FrBINT5.28
FrBINT5.29
FrBINT5.30
FrBINT5.31
FrBINT5.32

A Robotic Toy for Children with Special Needs: From Requirements to Design
Patrizia Marti , Leonardo Giusti , Claudio Moderini , Alessandro Pollini*
University of Siena [Italy]
The Use of Socially Assistive Robots in the Design of Cognitive Therapies for People with Dementia
Adriana Tapus* , Cristian Tapus , Maja Mataric
University of Southern California [USA]Long-Term Robot Therapy in a Health Service Facility for the Aged - a Case Study for 5 Years Kazuyoshi Wada* , Takanori Shibata , Yukitaka Kawaguchi
Tokyo Metropolitan University [Japan]
Investigation of Differences on Impressions of and Behaviors Toward Real and Virtual Robots between Elder
People and University Students
Tatsuya Nomura* , Miyuki Sasa
Ryukoku University [Japan]
Safe Robot Therapy: Adaptation and Usability Test of a Three-Position Enabling Device for Use in RobotMediated Physical Therapy of Stroke
Andras Toth* , David Nyitrai , Mihaly Jurak , Istvan Merksz , Gabor Fazekas , Zoltán Dénes
Budapest University of Technology and Economics [Hungary]
Setting of Training Load Using Theory of Functional Effective Muscle
Yosuke Murakami* , Satoshi Komada , Junji Hirai
Mie University [Japan]
A Performance Evaluation Method of a Passive Type Force Display and Rehabilitation System with Redundant
Junji Furusho , Ying Jin* , Kunihiko Oda , Makoto Haraguchi , Takehito Kikuchi , Hiroki Akai
Osaka University [Japan]
Remote Rehabilitation - the NeXOS Project: Lessons Learnt and Questions RaisedDavid Bradley* , Camilo Acosta-Marquez , Mark Hawley , Simon Brownsell , Pam Enderby , Sue Mawson
University of Abertay Dundee [United Kingdom]
A Virtual Environment-Based Paradigm for Improving Attention in TBI
Assaf Dvorkin* , Felise Zollman , Kathleen Beck , Eric Larson , James Patton
Rehabilitation Institute of Chicago [USA]
Virtual Reality Tasks to Enhance the Therapeutic Options of the Single Joint Rehabilitation Robot
Imre Cikajlo* , Zlatko Matjačić
Institute for Rehabilitation [Slovenia]
Virtually Offloading Body Mass for Rehabilitation: A Simulation Study
Qi Lu , Ou Ma , Bing Qiao*
Nanjing University of Aeronautics and Astronautics [China]

175
172
180
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203

46
171
12
18
49
183