Biomech Final

What distinguishes soft exosuits from rigid exoskeletons?

Soft exosuits use flexible textiles and elastomers, allowing more natural movement, while rigid exoskeletons use hard frames and aligned joints.

How do passive exoskeletons provide assistance?

They use springs and dampers to store and release energy without motors.

How does functional electrical stimulation (FES) restore movement?

FES stimulates motor nerves to produce muscle contractions.

What is the main advantage of invasive FES?

Higher stimulation specificity, but it requires surgery.

What condition is FES commonly used to treat in stroke patients?

Foot drop by improving ankle dorsiflexion during swing phase.

What does EMG measure in biomechanics?

Muscle activation timing and intensity.

What is an end-effector robot?

A robot that attaches at a distal point like the hand and guides movement trajectories.

What is an exoskeleton robot?

A wearable robot aligned with joints that provides multi-joint assistance.

What is assist-as-needed control?

A control strategy where the robot provides help only when the patient cannot complete the movement.

What is a key advantage of end-effector robots?

Simpler control and no need for joint alignment.

What is a disadvantage of exoskeleton robots?

They require precise anatomical alignment and are mechanically complex.

What clinical scale measures upper limb impairment?

Fugl-Meyer Assessment for Upper Extremity (FMA-UE).

What does active-resistive training target?

Muscle strength and endurance.

Why is objective data collection important in robotic therapy?

It enables personalized therapy and tracks patient progress.

What are common applications of lower limb rehabilitation robotics?

Gait training, strength improvement, mobility, and functional task training.

What is an example of a treadmill-based gait trainer?

Lokomat.

What is a key kinetic measure in gait analysis?

Ground reaction forces (GRF).

What do active foot orthoses do?

Assist ankle motion and improve gait mechanics.

What test measures walking endurance?

6-Minute Walk Test (6MWT).

What is active-assistive control?

The robot assists movement when the patient cannot complete it.

What is active-resistive control?

The robot applies resistance to strengthen muscles.

What does EMG evaluate in lower limb robotics?

Muscle activation patterns during movement.

Why correlate biomechanics with clinical outcomes?

To assess whether improvements translate to functional recovery.

What is a major advantage of soft exosuits?

They allow more natural joint movement with less restriction.

What is the main limitation of robotic rehabilitation?

High cost and mixed clinical trial results.

Why might biomechanical improvements not match clinical scores immediately?

Biomechanical improvements can occur before measurable clinical changes.

What signals are best for adaptive assistive control?

Kinematics, EMG, and force/torque data.

What strategy best promotes neuroplastic recovery?

Assist-as-needed robotics combined with FES and biomechanical feedback.

Why are robots used in rehabilitation?

They provide high-intensity, repetitive, and measurable therapy.

What is the tradeoff between end-effector and exoskeleton robots?

End-effectors are simpler and easier to control, while exoskeletons offer joint-specific assistance but are more complex.

Which factor most limits the effectiveness of passive exoskeletons in highly dynamic tasks?

Inability to generate active force

In rehabilitation robotics, what is the main purpose of a 'virtual channel' controller?

Restrict movement within a desired trajectory

Which variable would best reflect inter-joint coordination during gait?

Joint angle timing relationships

Why are soft exosuits often preferred for long-duration use?

Reduced weight and improved comfort

Which situation would most benefit from active-resistive robotic therapy?

Moderate recovery with voluntary movement present

What is a key challenge in designing exoskeleton robots?

Matching human joint kinematics

Which outcome best indicates improved neuromuscular control?

More consistent EMG activation patterns

Which type of robot is most likely to allow easier setup in clinical settings?

End-effector

What is the main role of kinetics in biomechanical analysis?

Evaluating forces and torques

Why is personalization important in rehabilitation robotics?

Matches therapy to patient-specific deficits

Which device would best assist a patient with reduced grip strength?

Hand exoskeleton

What does increased stride variability typically indicate?

Reduced coordination

Which training mode prioritizes motor learning through repetition with minimal assistance?

Assist-as-needed

What is a disadvantage of relying solely on robotic therapy?

Lack of human clinical judgment

Which measurement is most relevant for evaluating balance?

Center of pressure displacement

What is a primary benefit of combining FES with robotics?

Enhances muscle activation alongside mechanical assistance

Which factor most influences muscle fatigue during robotic therapy?

Resistance level

Which assessment is most suitable for fine motor skills?

NHPT (Nine-Hole Peg Test)

What is a key indicator of successful gait retraining?

Improved timing and coordination

Which design is most suitable for multi-joint assistance?

Exoskeleton

What is the role of feedback in robotic rehabilitation?

Improve motor learning

Which parameter reflects movement smoothness?

Jerk (rate of acceleration change)

Which feature improves safety in rehab robots?

Compliance and force limits

What is the main limitation of surface EMG?

Susceptible to noise and cross-talk

Which scenario requires the least robotic assistance?

High functional independence

What is the primary function of assistive orthoses?

Support and guide movement

Which metric is most relevant for endurance improvements?

Walking distance

What does adaptive control rely on?

Real-time sensor feedback

Which condition commonly benefits from gait robotics?

Stroke

What is the main goal of rehabilitation robotics?

Restore function and independence

Which variable reflects symmetry in gait?

Step length comparison between limbs

Which therapy increases task difficulty progressively?

Active-resistive

What is a benefit of wearable robots?

Mobility during training

Which outcome indicates improved coordination?

Smooth trajectories

Which factor improves patient engagement?

Gamified tasks

Which system best targets ankle dorsiflexion?

FES or foot orthosis

What does increased joint stiffness during movement suggest?

Impaired motor control

Which method evaluates muscle timing?

EMG

Which therapy type is best for early-stage recovery?

Passive or assistive

What is the role of clinicians in robotic rehab?

Guide and interpret therapy