![1
Roshani Raut, Pranav Pathak, Sandeep Kautish and Pradeep N (eds.) Intelligent Systems for
Rehabilitation Engineering, (1–18) © 2022 Scrivener Publishing LLC
1
Different Spheres of Rehabilitation
Robotics: A Brief Survey Over
the Past Three Decades
Saumyadip Hazra, Abhimanyu Kumar, Yashonidhi Srivastava
and Souvik Ganguli*
Department of Electrical and Instrumentation Engineering, Thapar Institute of
Engineering and Technology, Punjab, India
Abstract
Robots have been widely applied in the medical field to aid various surgeries and
different therapies, to assist movement for patients with physical disabilities, etc.
Although some review works have been carried out, trends and applications delib-
erated, and future of rehabilitation robotics has been forecasted, yet a consolidated
survey was missing in the literature. The objective of this survey is to present a
review of the rehabilitation robots, which will also open the reader to understand
futuristic applications in this domain. Several researchers worked on the inte-
grated architecture of human beings and robots with cognitive skills. The applica-
tion of rehabilitation robots in orthotics and prosthetics has also been significant.
The use of sensing technology in rehabilitation robots has also been addressed.
Further, the scenario of rehabilitation robotics in Europe and the northern part of
America is also highlighted in this work.
Keywords: Rehabilitation robotics, assistance robots, neurological disorders,
prosthetics, exo-skeleton, smart robotics
1.1 Introduction
Several researchers have contributed [1] to robotics applications in surgery,
rehabilitation [2, 3], neurological disorders [4], prosthetics/exoskeleton
*Corresponding author: souvik.ganguli@thapar.edu](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-25-320.jpg)
![2 Intelligent Systems for Rehabilitation Engineering
[5, 6], assistance [7], etc. The usefulness and development of rehabilita-
tion robotics have been sufficiently emphasized in literature [8, 9]. The
guidelines issued by the European Commission for robotics in healthcare
were examined, and areas in rehabilitation robotics where the develop-
ment is required are highlighted in [10]. The optimal approach for the
iterative learning control for the robotic systems was described with its
application in [11]. The research done in the field of exoskeleton robotic
system was overviewed, and its applications were provided [12]. A novel
method was presented for the development of a device for patients who
suffered from sprained ankles and was able to track the activity of ankle
[13]. The design, control, and application of Gentle/G system were pre-
sented for the patients who were recovering from brain injury [14]. The
control algorithms and use of AI were overviewed, and ongoing trends,
issues, and future trends were discussed in [15]. The overview of the
therapeutic robotic systems and its applications areas have been explored
earlier [16]. A robotic workstation was constructed using a manipula-
tor and was tested on spinal cord injury patients [17]. For the neuro-
prosthetics of spinal cord injury patients, an effective FES system was
developed [18].
A robotic ontology, called RehabRobo-Onto, was developed that dis-
played the information of rehabilitation. A software RehabRobo-Query
for facilitating the ontology was presented [19]. fMRI compatible rehabil-
itation robotic glove was introduced for hand therapy and was equipped
with a pneumatic actuator that generated motion [20]. RehabRobo-Onto,
which was robotic ontology, was equipped with a method that answered
natural language queries [21]. The estimation of force between joint posi-
tion and joint actuation was done using an extended state observer (ESO)
[22]. The process of recovery of upper limbs stroke patients was reviewed
[23]. With the help of Virtual Gait Rehabilitation Robotics (ViGRR), a new
concept of rehabilitation was introduced that did not require any therapist
[24]. The properties of the exoskeleton robotic system were studied, and
predictions regarding their benefit in coordination movements were done
[25]. A design of the exoskeleton robotic system was proposed for the knee
orthosis of poliomyelitis patients [26]. The previous reviews of such works
can be found in [27, 28]. Work has also been conducted on the develop-
ment of FCE using machine learning for rehabilitation robotics [29]. The
applications of disturbance observer for rehabilitation and the challenges
faced by them are presented in [30].
In this chapter, a thorough review of the various applications of robot-
ics in rehabilitation has been conducted. The applications of robotics in
neurology, cognitive science, stroke, biomechanical, machine interface,](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-26-320.jpg)
![Different Spheres of Rehabilitation Robotics 3
assistive, motion detection, limb injury, etc. are considered in this chap-
ter. The chapter is organized as follows. Section 1.2 gives an overview of
robotics for medical applications. Section 1.3 presents the relevant discus-
sion and future scope in this direction. Finally, the chapter is concluded in
Section 1.4.
1.2 An Overview of Robotics for Medical
Applications
1.2.1 Neurological and Cognitive
Behavioral approaches have been proved effective in many cases for the
treatment of patients with different injuries. A multidisciplinary behav-
ioral approach was made for patients who had movement issues [31].
Neurological disorders have been faced by many patients due to some or
other reasons. In [32], a pneumatic muscle actuated orthosis system was
developed, and in [33], VR technologies were used with rehabilitation
robotics for curing of neurologically disordered patients. The overview of
the tools used for the rehabilitation of patients with weak limbs due to
neurological disorders was presented [34].
1.2.2 Stroke Patients
Stroke is a medical emergency that needs immediate treatment. A large
number of cases around the world are witnessed every year. For disabled
stroke patients, the key approaches used for treatment using MANUS
robotic system were presented in [35]. A novel algorithm was developed
based on performance-based-progressive theory for rehabilitation, and
an algorithm was developed for triggering the recovery of stroke patients
[36]. The approaches made in human-centered robotic systems were pre-
sented and consisted of patient-cooperative abilities that did not impose
any predefined movement on stroke patients [37]. ARKOD device for knee
rehabilitation was presented, which had damping closed-loop control and
an electro-rheological fluid for effective flexion of knee movement [38].
Virtual Gait Rehabilitation Robot (ViGRR) for providing gait motion,
training, and motivation to the stroke patients was designed and proto-
typed [39]. The wearable inflatable robot was designed for stroke patients
and showed less cardiac activity for the therapist [40]. Table 1.1 enlists
some of the published work with the proposed solution(s) for the stroke
patients employing rehabilitation robotics.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-27-320.jpg)
![4 Intelligent Systems for Rehabilitation Engineering
1.2.3 Biomechanical or Mechatronic Robotic Systems
A systems approach, mechatronics, mobility sensors, cost/benefit ratio, and
softness were discussed for rehabilitation robotics [41]. An exoskeleton
robot WOTAS was introduced and was loaded with control strategies that
were based on biomechanical loading [42]. The analysis and applications
Table 1.1 Summary of certain articles related to the use of robotics for stroke
patients.
Ref.
number
Area of rehabilitation
robotics explored Remarks
[35] MANUS robotic
systems
Different approaches used for treating
disabled people and the main
areas where MANUS system had
significant effects were presented.
[36] Assistance using a
performance-based-
progressive theory
A novel method for assistance was
developed for stroke patients, and
the assistance was based on speed,
time, or EMG limits.
[37] Human-centered
robotic systems
The system was applied for the
rehabilitation of the impaired
stroke patients, and patient-
cooperative system, which
produced actions based on
the actions of the patient, was
presented.
[38] Knee rehabilitation
device AKROD
A device was designed particularly
for stroke patients and consisted of
damped closed-loop control and
electro-rheological fluid.
[39] Haptic-based
rehabilitation robot
Virtual Gait Rehabilitation Robot
(ViGRR) was designed for stroke
patients, and its prototype was also
presented. It provided gait motion,
training, and motivation.
[40] Inflatable wearable
robot
The device was tested on stroke
patients and showed less cardiac
and muscular activity by the
therapist.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-28-320.jpg)
![Different Spheres of Rehabilitation Robotics 5
of MEMS technology were tested by applying it to exoskeleton-based bio-
mechatronic robotic systems [43]. Based on EMG signals, the torque pro-
duced by the muscles was determined using a biomechanical model, and
it was predicted whether the proposed model was feasible or not [44]. An
ankle rehabilitation robotic device was built, and its mechanical perfor-
mance was tested [45].
1.2.4 Human–Machine Interfacing
Human–machine integration includes the tactics incorporated for better
communication between machines and humans. The structure and imple-
mentation of CURL language, MUSIIC, RoboGlyph, and multitasking
operator robotic system were presented [46]. The architecture of ARCHIN
was produced whose task was to integrate machines with humans, and
its performance was evaluated [47]. The perspective of human–machine
interaction was presented, which included the issues faced by it and the
solution to them [48].
1.2.5 Smart Robotics
A 2D vision-based localization system was illustrated, which could identify
the light-emitting markers. It was equipped with a web camera and human–
machine interaction interface [49]. An attempt was made for bridging the
gap between assistive robotic systems and smart homes. Robotic system
JOINT ANGLES
AND JOINT
MOVEMENTS
INPUT
LAYER
1ST
HIDDEN
LAYER
2ND
HIDDEN
LAYER
OUTPUT
LAYER
EMG SIGNAL FOR
SHOULDER
MOVEMENT
Figure 1.1 The architecture of the feed-forward neural network (FFNN) to obtain EMG
signals from shoulder muscles.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-29-320.jpg)
![6 Intelligent Systems for Rehabilitation Engineering
Table 1.2 Summary of certain studies which explored smart robotics for
rehabilitation.
Ref.
number
Area of rehabilitation
robotics explored Remarks
[49] 2D vision-based
localization system
The illustrated system could identify
the light-emitting markers. The
system was equipped with a web
camera along with a human–
machine interaction interface.
[50] Assistive rehabilitation
robotics and smart
homes
The proposed methodology bridged
the gap between these two aspects.
The robotic systems extended the
movement of patients and smart
homes accessed their requirements
and made necessary changes in
itself.
[51] A novel algorithm for
impaired patients’
therapy
The proposed algorithm exploited
the similarities between motor
recovery and motor learning,
which adopted with the patients as
they recovered.
[52] Feed-forward neural
network (FFNN)
FFNN was used for predicting the
EMG signals from eight shoulder
muscles of patients.
[53] VR strategies VR was integrated with multimodal
displays, which enhanced the
performance and also provided
feedback information to the patient
and motivated the patients using
additional audiovisual features.
[54] Neural networking-
based facial emotion
interpreter
Thermal images of persons who
suffered from speech disorder
were prepared, and then using a
confusion matrix, its performance
was evaluated.
[55] Decision-making
ability
Task-oriented robots were studied
and were tested on BAXTER to
check whether it was able to assist
the person for training or not.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-30-320.jpg)
![Different Spheres of Rehabilitation Robotics 7
assisted the patient and smart home adjusted as per the requirements of
the patient [50]. An algorithm was proposed for the therapy of impaired
patients, which adopted with the patients as they recovered [51]. The
feed-forward neural network (FFNN) was used for the determination of
EMG signals from eight shoulder muscles [52]. A diagram representing
the architecture of the feed-forward neural network (FFNN) to obtain the
EMG signal from the different shoulder muscles is shown in Figure 1.1.
VR technology was integrated with multimodal displays, which pro-
vided feedback information to the patient and motivated him [53]. The
facial emotions were determined using the thermal images for speech dis-
order patients using a confusion matrix [54]. The decision-making ability
of task-oriented rehabilitation robot was tested on BAXTER robot, and its
feasibility was determined [55]. A synopsis of the above discussion on the
smart robotics being employed for rehabilitation purposes is deliberated
in Table 1.2.
Table 1.2 summarizes some of the work that presented smart robotics
for rehabilitation purposes. The work done in VR and NN technologies
will instigate future research in this field.
1.2.6 Control and Stability Analysis of Robotic Systems
The stability of teaching-in method was estimated by applying it to reha-
bilitation robotics where it is the least error and fastest settling force was
also calculated [56]. The prototype of device that enabled humans to feel
and visualize synthetic objectives was designed [57]. Development of
pneumatic controlled orthosis was described for stroke patients, and it was
capable of position control of the robotic arm [58]. Design and interfacing
of active leg exoskeleton (ALEX) were described for patients with impair-
ment in which active force-field controller was used [59]. The complex
nature of bio-cooperative rehabilitation systems and its control strategies
was discussed. The probable solution to these problems was also described
[60]. The stability analysis of rehabilitation robotics was presented, which
consisted of the design of a controller to suppress the unintended move-
ments [61]. An admittance control algorithm was applied on an underde-
velopment rehabilitation robotics, and its preliminary report was generated
[62]. The summary of the control aspects and the stability issues are pre-
sented in Table 1.3.
Thus, Table 1.3 enlists some of the work done in the field of control
theory and stability analysis associated with robotics employed for reha-
bilitation purposes.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-31-320.jpg)
![8 Intelligent Systems for Rehabilitation Engineering
Table 1.3 Summary of certain articles on the control and stability analysis.
Ref.
number
Area of
rehabilitation
robotics explored Remarks
[56] Stability of
teaching-in
method
The stability was analyzed applying it
to rehabilitation robotics. The least
error and fastest settling force were
also calculated, and analysis was
done on the elasticity of force sensor.
[57] Devices that allowed
humans to
visualize and feel
The prototype required motor control
and the ability to learn about human
motor tasks and capability to adapt
to different situations.
[58] Pneumatic actuated
orthosis
The system was developed for stroke
patients. The system was capable
of performing position control of
the robotic arm and learning from
the movement and storing it for
movement the next time.
[59] Design and
interfacing
of active leg
exoskeleton
(ALEX)
The device included a force-field
controller for applying forces
for proper movement, and the
experimental results based on it were
also presented.
[60] Importance of
psychological
factors in
rehabilitation
The article described challenges faced
while using the closed-loop control
of bio-cooperative rehabilitation
systems.
[61] Method for the
stability analysis
The method consisted of the ability to
customize as per the recovery rate
of the patient and had a controller
to suppress the unintended
movements.
[62] Admittance control
algorithm
on hand
rehabilitation
The system consisted of a single degree
of freedom. The robot was under
development, and a preliminary
report was generated, which showed
positive results.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-32-320.jpg)
![Different Spheres of Rehabilitation Robotics 9
1.2.7 Assistive Robotic Systems
The importance of socially assistive robots was presented, which enter-
tained the patients socially whenever they required [63]. For motivating,
monitoring, and reminding stroke patients, an assistive robotic system
was described, which also tracked the arm activity of the patient [64]. The
cognitive strategy was extended with rehabilitation robotics by testing the
Active Learning Program for Stroke (ALPS) [65]. Socially assistive robotics
(SAR) was tested, and their kinematic and temporal features, which were
related to fatigue, were determined [66].
1.2.8 Limb Injury
Importance of development of rehabilitation robotics for the patients who
suffered from upper limbs impairment was highlighted [67]. An appli-
cation of wireless sensing technology in rehabilitation robotics was pre-
sented for patients who had upper limb injury due to stroke [68]. For the
rehabilitation of upper limb injury patients, a task-oriented robotic system
ADAPT was designed, and its performance was evaluated [69].
1.2.9 Motion Detection
Patients who suffer from any kind of impairment are not able to produce
proper movement. The robotic systems may help in determining their
intention of motion and aid it by helping them to move. Production of
torque in the desired direction and compensation of kinetic and breakaway
friction was presented [70]. Investigation of support vector machine (SVM)
identified the sEMG signals from the muscles and produced motion in that
KINEMATICS EMG Eye tracking Context
Detect
movement onset
Estimate
intended
movement
Provide robotic
assistance
Detect
erroneous
assistance
Figure 1.2 Block diagram representation of the intention estimation algorithm.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-33-320.jpg)
![10 Intelligent Systems for Rehabilitation Engineering
direction [71]. A method enhancing the degree of freedom of the patient
and supporting the motion was developed. It was tested on ARM in III
robotic system [72]. Based on the EMG signals produced by muscles, the
torque and intention of motion were determined [73]. The visualization for
the intention estimation algorithm is denoted by Figure 1.2 for inquisitive
readers.
The intended motion of hand for hemiparetic hand patients was done
using sEMG signals. It was introduced in the form of a soft glove [74].
1.3 Discussions and Future Scope of Work
The research focusing on workstation adaptations of rehabilitation robot-
ics is mentioned in [75]. Rehabilitation game was integrated with robotics
based on reinforcement learning method and depending on the skills of
the player. The difficulty level of the game was increased gradually as per
the skills of player [76]. A system was designed for adjusting the difficulty
of game based on the score produced by the player [77]. A diagrammatic
representation of the difficulty adjustment in games as per the flow model
is provided with the help of Figure 1.3.
The works carried out then in Europe on rehabilitation robotics were
summarized, and historical aspects and EU’s different funded and active
projects were also summarized [78]. The projects that were carried out on
rehabilitation robotics in North America were described, and they were
HIGH
CHALLENGE
LOW
LOW SKILLS HIGH
FLOW
CHANNEL
Figure 1.3 The difficulty adjustment in games according to the flow model.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-34-320.jpg)
![Different Spheres of Rehabilitation Robotics 11
Table 1.4 List of some works done in areas with potential future.
Ref.
number
Area of
rehabilitation
robotics explored Remarks
[14] Gentle/G system for
patients with brain
injury
The design, control, and application
of an experimental setup were
presented for the rehabilitation. The
robot had six active and three passive
degrees of freedom.
[24] Virtual Gait
Rehabilitation
Robotics (ViGRR)
A novel concept for rehabilitation
robotics; its insights were based
on ViGRR and did not require any
therapist.
[33] VR in rehabilitation
robotics
Approaches made to cure
neurologically disordered patients,
and the importance of exercises by
clinical robots was presented.
[41] Mechatronic
rehabilitation
robotics
A systems approach, mobility sensors,
cost/benefit ratio, and softness
were discussed. The importance of
softness was also discussed and was
considered as an important factor.
[65] Robotic-assisted
therapy
Active Learning Program for Stroke
(ALPS) was designed, and testing
was done on patients for a while and
was found successful in extending
cognitive strategies.
[66] Socially assistive
robotics (SAR)
SAR was tested, and kinematic and
temporal features related to fatigue
were determined. The test was done
for a sit-to-stand test and concluded
that three kinematic features had a
relation with fatigue.
[71] Support vector
machine (SVM)
The feasibility of SVM for the
identification of the locomotion
from sEMG signals produced by the
muscles for rehabilitation robotics
was calculated.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-35-320.jpg)
![12 Intelligent Systems for Rehabilitation Engineering
judged as success or failure [79]. A summary of the project carried out
jointly by VA and Stanford University was examined, and all the pros and
cons of the project were listed [80]. Table 1.4 showcases a list of certain
areas that have the potential future scope as well.
Application of virtual reality, SVMs, etc. still requires innovative think-
ing and ingenuity. Robots with multiple degrees of freedom and robotic-
assisted therapy have constantly been a subject of research. The readers
interested in pursuing this field could consider the above topics for their
study.
1.4 Conclusion
This chapter presents a review of the progress of rehabilitation robotics.
Robots have found application in neurology, cognitive science, stroke, bio-
mechanical, machine interface, assistive, motion detection, limb injury,
etc. They have been used to aid surgeries and therapies, to take care of
neurological disorders of patients, assisting patients for movement, etc.
Adaptive robotics has been developed catering to patient needs and abil-
ities. Moreover, the application of robots in orthotics, prosthetics, and
neuro-rehabilitation has been intriguing. This chapter also presents the
scenario of rehabilitation robotics in Europe and the northern part of
America. The scope of research lies in the exploration of virtual reality,
neural networks, and SVM, and application to robotics. The use of sensing
technology in the rehabilitation robots with various degrees of freedom is
also worthy of attention. The readers are encouraged to pursue this line of
research.
References
1. Speich, J.E. and Rosen, J., Medical robotics, in: Encyclopedia of biomaterials
and biomedical engineering, vol. 983, p. 993, 2004.
2. Loureiro, R.C., Harwin, W.S., Nagai, K., Johnson, M., Advances in upper
limb stroke rehabilitation: a technology push. Med. Biol. Eng. Comput., 49,
10, 1103, 2011.
3. Yue, Z., Zhang, X., Wang, J., Hand rehabilitation robotics on post-
stroke motor recovery. Behav. Neurol., 2017, 2017. 3908135.://doi.org/
10.1155/2017/3908135
4. Tefertiller, C., Pharo, B., Evans, N., Winchester, P., Efficacy of rehabilitation
robotics for walking training in neurological disorders: A review. J. Rehabil.
Res. Dev., 48, 4, 387–416, 2011.](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-36-320.jpg)
![20 Intelligent Systems for Rehabilitation Engineering
by the speed of life, unhealthy lifestyle, and environmental factors [1, 2].
The issue of appendix development, brought on by hemiplegia after a
stroke, not only reduces patient satisfaction but also carries excruciating
pain in education and scientific expertise. Strong restorative adjustment
can improve patients’ sensory function and maintain a level of joint action,
and prevents reunion and improves patients’ “final recovery rate.”
The engine operates basically [3]. The most common remedy for recovery
is moderate exercise of patients by a specialist. This strategy is difficult to
build a compulsory treatment plan and is largely well managed [4]. With the
advancement of robotic rehabilitation and drug rehabilitation, the regenera-
tive robot has become a new therapeutic sensory therapy. It is very important
to abuse the introduction of robots in order to recover the supplemental dose
of patients with stroke [5]. Common treatment strategies, based on expert
clinical knowledge, have problems with high staff utilization, long recovery
cycles, side effects of restricted boundaries, etc. for the successful rehabil-
itation of clinical assets, and to improve personal satisfaction of patients
with stroke [6, 7]. The advanced add-on robot can be divided into two types
according to the original design: the last foot and the type of exoskeleton.
The latter type actually provides a return that prepares for flight develop-
ment. In addition, the exoskeleton type expands the range of retrieval adjust-
ments from the plane to the third-dimensional (3D) space, which can help
the affected appendix to complete the adjusted restoration in 3D space. The
exoskeleton retrieval robot for the most part conducts the development of
patient placement with the aid gadget (otherwise called the mechanical exo-
skeleton structure). The design of the auxiliary gadget is similar to the bone
structure of a human implant. During the preparation, the patient append-
ages and comparing parts of the assistant gadget are merged together, and the
merger bar of the auxiliary gadget rotates the associated member in order to
deliver moving additions. It can make the appendages be trained especially
in a variety of situations by controlling the gadget’s auxiliary power indi-
cators. Currently, the basic strategy of the exoskeleton robot repositioning
model is one of the hottest problems in robotic retrieval tests. Contributing
to the construction of various equipment and recovery levels, various land
reclamation robots are developed, e.g., unique exoskeleton ADEN-7 robot
with 7 degrees [8], ARMIN robot with six levels of chance (four dynamic
and two active) semi-exoskeleton structure [9], an ARMEO robot that pro-
vides arm weight depletion network that supports emotional preparation,
enhancement of installation, and test instruments [10], etc. In addition, the
air muscles are used as a pilot to receive four levels of stimulus potential
for the RUPERT movement robot [11], a LIMPACT water-based robot [12],
and a CAREX cord-based robot [13]. Since then, scientists have recreated](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-44-320.jpg)
![Neurorehabilitation Robots Review 21
and designed a superficial regenerative robot based on pneumatic muscle
drive [2], a superficial regenerative retrieval robot, an over-the-top rescue
robot, and a half-drive and under the upper exoskeleton drive retrieval robot
[14–22]. The reciprocal robot takes care of the problem of controlling the
adequacy of movement and the summary of each human body during the
recovery time spent repairing and overcomes the burden of ultimately redi-
recting recovered robot, which can only make basic adjustment (direct or
circular movement) enough for minimal movement. Currently a protected
and productive robotic retrieval building available for different applica-
tions. In any case, in the system of exoskeleton prostheses, the integration
of mechanical joint movement pivot and human joint movement hub is
important. The exoskeleton produces a surprising effect on the patient’s
joint under a deformed condition, which not only promotes pain associated
with the patient’s injury but also further prevents the developmental space
of the patient’s placement, and reduces the impact of prepared recovery. In
line with these lines, the pivot of each travel pair is directed and focused on
the reversal of each joint of the human body in the same way as can be con-
sidered in the external regenerative device system. The movement of each
integration of the foreign exchange gadget is basically accepted by modifying
or moving the couple, and obtained positive results [23, 24]. Compared with
non-invasive treatment, the robotic rehabilitation framework has the advan-
tages of high preparation, easy-to-measure performance measurement, and
long-term systematic treatment of patient rehabilitation.
To meet the need for rehabilitation of patients with augmentation [21,
25] problem, a robotic over-the-counter replacement robot is being devel-
oped, primarily a powerful recovery and rehabilitation gadget for patients
with stroke. The basic renewal process is shown in Figure 2.1.
Because of the understanding of common rehabilitation barriers and
displays of regenerative robots, combined with the upper body appendage
of vital signs structures and parameters, we determine the arm develop-
ment for each integrated range from all bones and upper limbs to improve
extension features; this document proposes a robotic regenerative robot
design system. It is an over-the-top acquisition robot used for therapeutic
restorative therapy for hemiplegic supplementation to maintain the range
of motion of the appendix, prevent muscle degeneration of the appen-
dix, improve system muscle strength, and promote functional recovery.
As a result, it can provide a powerful recovery gear for patients with high
appendage hemiplegia brought on by stroke [31, 47].
In this article, due to the investigation of life structures, the movement of
metal, and the range of motion of the upper human appendix, the movement
area of each joint is determined by the human arm, and part of the machine](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-45-320.jpg)
![Neurorehabilitation Robots Review 23
joint operated by specially designed joints intended for the
elbow/wrist and shoulder joint is driven by a dental band.
All engines connected to the link have been reversed to
achieve greater distance transmission and reduce driving
delays for the last members. The material belt is rigged to
drive the members of the return robot designed for high
wear, which authorizes high balance.
The design of an obsolete durable adhesive robot pro-
motes the restoration of integration, adequately reduces the
volume, weight, and delay of the actuators, and achieves a
lightweight design of the standard design.
(2)
In addition, the paper proposes a parallel design for the
wrist-operated. With a rope and kept in a spring pressure.
With a rope and kept in a spring pressure, the fixed base and
the moving base of the additional decorative return robot
are connected to the three wires and the spring pressure
involved. The fixed base and the moving base of the addi-
tional decorative return robot are connected to the three wires
and the spring pressure involved. The springs are designed to
mimic the human wrist and support the versatile section to
complete the growth of the wrist, while the wires are formed
by regenerating the wrist muscles to control the wearable
retrieval robot. In this paper, the system approach will con-
tribute to the ongoing investigation of equal instruments with
flexible members. The results will play an important role in
reversing the development of the human wrist and further in
improving the retrieval robot, the cord that creates the drive.
(3)
The kinematics and performance of the retrieval robot
designed for high wear are also confirmed, decreasing
according to the DH plan and the Monte Carlo process.
It shows that a removable retrieval robot that can be worn
can meet recovery needs by preparing for kinematics/
element investigations as well as prepared tests. In this way,
it also looks at the availability and adequacy of the planning
strategy, which provides an important strategy for improv-
ing the robot recovery tool.
2.2 Recovery and the Robotics
The accompanying issues have consistently existed in recovery [1]:
• Operational and useful redesign from a cerebral perspec-
tive and engine recuperation appear to require treatments](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-47-320.jpg)
![24 Intelligent Systems for Rehabilitation Engineering
that require a significant utilization of the appendage related
with an imaginative kind of learning as well as capacity con-
cerning new engine abilities.
• Based on the past thought, it is apparent that straightfor-
ward developments do not lead to greatest recuperation of
the restored appendage.
• Based on the primary thought, it is additionally certain that
even the utilization of uninvolved activities does not prompt
ideal recuperation of the influenced appendage.
Thus, the thinking prompted the beginning and the first utilization of
mechanical technology as commonsense and viable restoration devices
[2, 3] in light of the fact that they can permit organization of recovery
treatments that include:
1. Rousing and drawing in recovery work out.
2. Preparing that both upgrades and amplifies the usefulness
of the appendage.
3. A climate brimming with rousing improvements.
Recovery upheld by the utilization of automated frameworks can have
various points of interest [4]. Specifically, it permits more escalation and
is custom-fitted to the patient recovery exercises and administrations
(expanding the sum and nature of treatment that can be regulated); what’s
more, it permits all the elaborate entertainers in the group (e.g., physio-
therapists, doctors, bioengineers, and different figures) to set and deal
with some work boundaries to make the recovery explicit and ideal for the
patient (the kind of activity, the degree of help from the robot, the power
and the kinematic that the patient should apply, following the exercise).
2.2.1 Automated Technological Tools Used in Rehabilitation
There are two distinct sorts of mechanical innovative instrument (RTT) in
restoration for both the lower and upper appendages. The first depends on
exoskeletal instruments. The second is of the end-effector type.
2.2.1.1 Exoskeletal-Type RTT
The exoskeletal robot, regardless of whether it is for the lower [5] or
upper appendages [6], totally covers the appendage, following and imi-
tating its anthropometric attributes and hence managing each portion
associated with the recovery practice. The exoskeletons are frameworks](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-48-320.jpg)
![Neurorehabilitation Robots Review 25
with a combination of mechanical and electronic segments that com-
prise a mechatronic mechanical assembly that is worn and that plays out
a similar sort of kinematic/dynamic action rehearsed by the patient who
wears it. These frameworks cover the influenced appendage, or if noth-
ing else the piece of the appendage influenced by the clinical viewpoints
from a restoration perspective. In these frameworks, the quantity of lev-
els of opportunity is equivalent to that of the joints on which the resto-
ration treatment should mediate depending on the targets. As to recovery
of the lower appendages [4], we allude to class 1 exoskeletal frameworks
regarding nonportable mechanical frameworks. Class 1 has a place with
those nonportable automated frameworks comprising of a mechanical
exoskeleton. At times, there is likewise a body weight uphold (BWS) [4]
type framework circulated over the entire body for weight alleviation, a
transport line, and a control data framework including biofeedback reac-
tion frameworks dependent on augmented experience. These frameworks
are normally utilized uniquely in the facility and halfway establish a devel-
opment of unadulterated BWS frameworks. We explicitly allude to Class 2
exoskeletal frameworks with explicit reference to versatile frameworks that
can likewise be utilized remotely to the restoration clinical climate.
2.2.1.2 End-Effector-Type RTT
In a mechanical end-effector gadget, the contribution for completing the
restoration work out comes straightforwardly from the distal piece of
the appendage, permitting the characteristic kinematic initiation of the
development without unnatural requirements. These frameworks are uti-
lized for both lower [7] and also upper appendage [8, 9] restoration. The
robot with the end-effector interconnects to the appendage in a solitary
point, for the most part a handle or a grasp point for the restoration of the
upper appendage or a pedal-like apparatus for the restoration of the lower
appendages. As regard the restoration of the upper appendages regarding
end-effector frameworks, now and again we talk about Cartesian frame-
works because of certain imperatives that can be forced in the directions
additionally joined with explicit activities (likewise gamified) given by
programming.
2.2.2 Benefits of the RTTs
Both the two RTTs produce persistent advantages [4–9]. It is currently
grounded that for the lower appendages, the RTT produces different
advantages, counting:](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-49-320.jpg)
![Neurorehabilitation Robots Review 27
A portion of these headings that all the more straightforwardly relate
with movement recovery [4, 10, 11] are:
1. To evaluate the impacts of utilizing robots at various periods
of recuperation.
2. To create wearable robots simple and viable to wear and
eliminate.
3. To diminish the expenses likewise by methods for new mod-
els of care.
4. To improve and reevaluate the models of care dependent on
advanced mechanics.
5. To engage the cooperative energy and coordinated effort
between experts of the recovery group and architects
through shared and appropriately planned undertakings.
6. To make computer-generated reality, expanded reality, at
home advancements, exoskeleton, and counterfeit insight
accessible for the treatment of psychological as well as
degenerative conditions.
Different bearings, more engaged to mental help, in a more extensive
way to deal with recovery measure are the accompanying [12]:
1. To put resources into social robots explicitly intended to
help during the recovery stages (concerning model being
taken care of by the older).
2. To put resources into social robots explicitly planned as
social middle people to help during correspondence/treat-
ment movement (as being taken care of by the chemical
imbalance).
3. To deal with the issue of the sympathy in mechanical tech-
nology particularly according to communication with the
social robots. Considering the abovementioned, the publica-
tion intends to invigorate researchers to report their encoun-
ters identifying with different parts of advancement on the
turn of events and utilization of mechanical technology in
recovery both from a mechanical and clinical perspective.
2.3.2 Open Problems and Second Aim of the Editorial
In spite of the incredible improvement of advanced mechanics in the res-
toration field, we are helping to a few unique methodologies in the utiliza-
tion and in the pertinent models of care. For instance, both the recovery](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-51-320.jpg)
![28 Intelligent Systems for Rehabilitation Engineering
treatments and the results in the global display are frequently evaluated
in an alternate manner. As in different areas, for example, telemedicine,
mechanical technology is regularly utilized exceptionally restricted to
direct as well as examination projects. Much the same as in telemedicine,
all angles that can fortify the utilization of mechanical technology in rou-
tine clinical exercises should be tended to in the global display with solid
committed activities. Through this methodology, restoration advanced
mechanics will actually want to be important for the arrangement of pro-
posed medical care offers in each state with an unmistakable repayment
of the demonstrated administrations. Considering the abovementioned,
the article points likewise to animate researchers to report their encoun-
ters identified with these different parts of the utilization of mechanical
advances utilized in the recovery habitats and research facilities. From this
assortment acquired with heterogeneous strategies, which probably will go
from the audit to the mass overview, we hope to have significant reactions
and boosts for the global academic local area.
2.4 Overview
As the findings regarding the Global Activity on Neurology and Public
Health developed by the World Health Organization, a large number of vas-
cular disorders continue and are reversible, contain a global medical issue
[1], and have a particular impact on individual adults. Also, a high future
makes society of more than 60 people progressively higher [2]. Persistent
gatherings for rehabilitation administrators in the Commonwealth are
designed for neurological disorders, as outlined in the general view [3].
70% of respondents provided recovery management for people with stroke,
multiple sclerosis, severe cerebrum injury, neurological disorders, and, in
addition, other neuromuscular conditions. The different treatments men-
tioned were those that provided recovery for people with a single brain
injury (10%), spinal cord injury (9%), amputees (5%), muscle paralysis
(4%), learning disabilities (1%), and suffering (1%). In Spain, a similar situ-
ation appears where muscle and bone failure (half), neurological disorders
(15%), severe injuries (29%), and others (6%) are treated in the manage-
ment of recovery [4]. The current situation, along with the need for further
recovery, assistance for people with disabilities, means that automatic care
and rehabilitation can play a significant role in the long run. Nowadays,
research on the use of automated frameworks in various fields identified
by healthcare is extensive [5–7].
In the field of recovery, logical writing demonstrates the different
order of such structures as indicated by their level of communication [8],](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-52-320.jpg)
![Neurorehabilitation Robots Review 29
the most important points treated [9–12], the release of rescue robots
[13, 14], control strategies [15, 16], and therapeutic efficacy [17–20]. In
any case, no experiments were performed on the method of appropriate
recovery, and the commitment of mechanical technology to the various
stages of the recovery or communication cycle was not examined. In this
article, an efficient writing survey is directed to distinguish the commit-
ment of mechanical technology for upper appendage neuro rehabilita-
tion featuring its connection with the restoration cycle and to explain
the planned examination headings in the advancement of a self-sufficient
recovery measure.
2.5 Renewal Process
A World Disability Report by WHO and the World Bank [21] provides
the definition of recovery: “a number of measures that help people who
experience, or are likely to experience, inability to achieve and continue to
function effectively in communication with their surroundings.” in various
definitions in a world characterized by social diversity. UMeyer et al. [22]
provided the calculated visual recovery:
“The social process is based on the WHO integration model of perfor-
mance, inefficiency and efficiency, with the aim of empowering people
with medical problems they experience or tend to cope with inability to
achieve and maintain good co-operation with the climate” of the patient’s
well-being throughout the recovery cycle. These interactions include tan-
gible evidence of human problems and needs, related to issues in human
priorities and climate, setting goals for recovery, planning and action, and
impact assessments [21]. This approach is called the recovery cycle (see
Figure 2.1), adapted from the World Report on Disability [21], and recently
developed by Stucki and Sangha [23] and modified by Steiner et al. [24].
By the way it works, the recovery cycle consists of four steps: testing,
operation, mediation, and testing. The interaction occurs at two levels: the
first is about the direction given by the continuation of care, and the sec-
ond is about the provision of specific care [25]. From a practical point of
view, the test program contains an ID of individual issues and needs, an
investigation of the ability to rescue and guess, a description of the assis-
tance provided, and the objectives of the plea program. Work refers to the
placement of a person in the most appropriate intercession assistance pro-
gram in treating their needs. From the direction of the guide, no decisions
appear on the roll. Assessment refers to the help and accomplishment of
the purpose of intercession. From the point of view of providing specific](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-53-320.jpg)
![30 Intelligent Systems for Rehabilitation Engineering
assistance, the assessment includes tangible evidence of issues, audits, and
expected changes in assistance or mediation program objectives, a descrip-
tion of the main objectives of the recovery cycle, and objectives to address.
The action phase refers to the professional side, and social advocacy is
essential to achieving the goals of mediation. Dependence includes the
determination of methods, measures, and a description of the target mea-
sures to be achieved within a predetermined timeframe. Ultimately, testing
determines spatial achievements related to specific symptoms, recovery
cycle objectives, and, finally, the goals of the mediation program. It also
includes selections in relation to the requirement for another mediation
cycle based on other tests.
2.5.1 Renovation Team
Rehabilitation requires the management of many medical care provid-
ers with novel skills, preparation, and skills that are used to fully restore
patients’ strengths and their positive recovery in all areas of life [26].
Rehabilitation experts have chosen the concept of “continuous focused
treatment.” This is not intended to alleviate the needs of the patient but
rather to strengthen the patient as the head and judge of the mediation
as indicated by the wishes implanted by the patient [27]. The inclusion of
different clinical approaches can be done with three functional models [26,
28]: (a) a multigroup model—in which colleagues interact and transmit
between them, knowing that they are composed of all components and
provide testing and equal but free operation; (b) a multisectoral group
model—in which group members share a common source of information
(intended to encourage the advancement of nonfiction), and selections are
made in one or a few general circuits (hence, drugs developed by indepen-
dent experts); and (c) a multidisciplinary team model—not only promot-
ing communication within the group but also gaining information from
other related scholars and joining them in training [29]. Since the segmen-
tation model is specific to promote early communication, it is extremely
appropriate for retrieval groups [28].
2.5.2 Renewal Methods and Results
Recovery techniques are a myriad of recovery activities that reflect more
physical strength, structure, exercise and coordination, natural flexibility,
and other factors. The effects of restorative benefits and changes in human
performance over the long term cannot be measured by a single mea-
sure or set of measures [30]. These results can be tested in three terms](https://image.slidesharecdn.com/18664811-250606062627-966f8424/85/Intelligent-Systems-For-Rehabilitation-Engineering-1st-Edition-Roshani-Raut-Editor-54-320.jpg)
Intelligent Systems For Rehabilitation Engineering 1st Edition Roshani Raut Editor
- 1. Intelligent Systems For Rehabilitation Engineering 1st Edition Roshani Raut Editor download https://ebookbell.com/product/intelligent-systems-for- rehabilitation-engineering-1st-edition-roshani-raut- editor-37329622 Explore and download more ebooks at ebookbell.com
- 2. Here are some recommended products that we believe you will be interested in. You can click the link to download. Intelligent Systems For Stability Assessment And Control Of Smart Power Grids Yan Xu https://ebookbell.com/product/intelligent-systems-for-stability- assessment-and-control-of-smart-power-grids-yan-xu-22130060 Intelligent Systems For Engineers And Scientists A Practical Guide To Artificial Intelligence 4th Edition 4th Adrian A Hopgood https://ebookbell.com/product/intelligent-systems-for-engineers-and- scientists-a-practical-guide-to-artificial-intelligence-4th- edition-4th-adrian-a-hopgood-36337978 Intelligent Systems For Crisis Management Geoinformation For Disaster Management Gi4dm 2012 1st Edition Mohamed Bakillah https://ebookbell.com/product/intelligent-systems-for-crisis- management-geoinformation-for-disaster-management-gi4dm-2012-1st- edition-mohamed-bakillah-4379894 Intelligent Systems For Security Informatics Christopher C Yang https://ebookbell.com/product/intelligent-systems-for-security- informatics-christopher-c-yang-4409856
- 3. Intelligent Systems For Social Good Theory And Practice Shyamapada Mukherjee https://ebookbell.com/product/intelligent-systems-for-social-good- theory-and-practice-shyamapada-mukherjee-44756054 Intelligent Systems For Science And Information Extended And Selected Results From The Science And Information Conference 2013 1st Edition Besim Mustafa https://ebookbell.com/product/intelligent-systems-for-science-and- information-extended-and-selected-results-from-the-science-and- information-conference-2013-1st-edition-besim-mustafa-4635402 Intelligent Systems For Computer Modelling Proceedings Of The 1st Europeanmiddle Asian Conference On Computer Modelling 2015 Emacom 2015 1st Edition Vtzslav Stskala https://ebookbell.com/product/intelligent-systems-for-computer- modelling-proceedings-of-the-1st-europeanmiddle-asian-conference-on- computer-modelling-2015-emacom-2015-1st-edition-vtzslav- stskala-5355452 Intelligent Systems For Engineers And Scientists 3rd Ed Hopgood https://ebookbell.com/product/intelligent-systems-for-engineers-and- scientists-3rd-ed-hopgood-5394962 Intelligent Systems For Crisis Management Gi4dm 2018 1st Ed Orhan Altan https://ebookbell.com/product/intelligent-systems-for-crisis- management-gi4dm-2018-1st-ed-orhan-altan-9962496
- 7. Intelligent Systems for Rehabilitation Engineering
- 8. Scrivener Publishing 100 Cummings Center, Suite 541J Beverly, MA 01915-6106 Publishers at Scrivener Martin Scrivener ([email protected]) Phillip Carmical ([email protected])
- 9. Intelligent Systems for Rehabilitation Engineering Edited by Roshani Raut, Pranav Pathak, Sandeep Kautish and Pradeep N
- 10. This edition first published 2022 by John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, USA and Scrivener Publishing LLC, 100 Cummings Center, Suite 541J, Beverly, MA 01915, USA © 2022 Scrivener Publishing LLC For more information about Scrivener publications please visit www.scrivenerpublishing.com. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or other- wise, except as permitted by law. Advice on how to obtain permission to reuse material from this title is available at http://www.wiley.com/go/permissions. Wiley Global Headquarters 111 River Street, Hoboken, NJ 07030, USA For details of our global editorial offices, customer services, and more information about Wiley prod- ucts visit us at www.wiley.com. Limit of Liability/Disclaimer of Warranty While the publisher and authors have used their best efforts in preparing this work, they make no rep resentations or warranties with respect to the accuracy or completeness of the contents of this work and specifically disclaim all warranties, including without limitation any implied warranties of merchant- ability or fitness for a particular purpose. No warranty may be created or extended by sales representa tives, written sales materials, or promotional statements for this work. The fact that an organization, website, or product is referred to in this work as a citation and/or potential source of further informa tion does not mean that the publisher and authors endorse the information or services the organiza tion, website, or product may provide or recommendations it may make. This work is sold with the understanding that the publisher is not engaged in rendering professional services. The advice and strategies contained herein may not be suitable for your situation. You should consult with a specialist where appropriate. Neither the publisher nor authors shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. Further, readers should be aware that websites listed in this work may have changed or disappeared between when this work was written and when it is read. Library of Congress Cataloging-in-Publication Data ISBN 978-1-119-78566-8 Cover image: Pixabay.Com Cover design by Russell Richardson Set in size of 11pt and Minion Pro by Manila Typesetting Company, Makati, Philippines Printed in the USA 10 9 8 7 6 5 4 3 2 1
- 11. v Contents Preface xiii 1 Different Spheres of Rehabilitation Robotics: A Brief Survey Over the Past Three Decades 1 Saumyadip Hazra, Abhimanyu Kumar, Yashonidhi Srivastava and Souvik Ganguli 1.1 Introduction 1 1.2 An Overview of Robotics for Medical Applications 3 1.2.1 Neurological and Cognitive 3 1.2.2 Stroke Patients 3 1.2.3 Biomechanical or Mechatronic Robotic Systems 4 1.2.4 Human–Machine Interfacing 5 1.2.5 Smart Robotics 5 1.2.6 Control and Stability Analysis of Robotic Systems 7 1.2.7 Assistive Robotic Systems 9 1.2.8 Limb Injury 9 1.2.9 Motion Detection 9 1.3 Discussions and Future Scope of Work 10 1.4 Conclusion 12 References 12 2 Neurorehabilitation Robots Review: Towards a Mechanized Process for Upper Limb 19 Yogini Dilip Borole and Roshani Raut 2.1 Introduction 19 2.2 Recovery and the Robotics 23 2.2.1 Automated Technological Tools Used in Rehabilitation 24 2.2.1.1 Exoskeletal-Type RTT 24 2.2.1.2 End-Effector-Type RTT 25 2.2.2 Benefits of the RTTs 25
- 12. vi Contents 2.3 New Directions to Explore and Open Problems: Aims of the Editorial 26 2.3.1 New Directions of Research and Development and First Aim of the Editorial 26 2.3.2 Open Problems and Second Aim of the Editorial 27 2.4 Overview 28 2.5 Renewal Process 29 2.5.1 Renovation Team 30 2.5.2 Renewal Methods and Results 30 2.6 Neurological Rehabilitation 31 2.6.1 Evaluation 31 2.6.2 Treatment Planning 33 2.6.3 Mediation 34 2.6.4 Assessment 34 2.7 State-of-the-Art Healthcare Equipment 35 2.7.1 Neuro Renewal of Upper Limb 35 2.7.1.1 Things and Method 35 2.7.2 Advanced Equipment for Neuro Revival of the Upper Limb 35 2.7.2.1 Methods of Testing 37 2.7.2.2 Renewal Methods and Results 38 2.8 Towards Autonomous Restoration Processes? 39 2.8.1 Default Renewal Cycle 40 2.8.1.1 Computerized Testing Programs 42 2.8.1.2 Choice Support System 43 2.8.1.3 Mechanical Rehabilitation Systems 45 2.9 Conclusion 46 References 47 3 Competent and Affordable Rehabilitation Robots for Nervous System Disorders Powered with Dynamic CNN and HMM 57 Sundaresan Sabapathy, Surendar Maruthu, Suresh Kumar Krishnadhas, Ananth Kumar Tamilarasan and Nishanth Raghavan 3.1 Introduction 58 3.2 Related Works 59 3.2.1 Rehabilitation Robot for Lower Limbs 59 3.2.2 Rehabilitation Using Hip Bot 60 3.2.3 Rehabilitation Wrist Robot Using MRI Compatibility 61 3.2.4 Rehabilitation Robot for Gait Training 62 3.3 Solutions and Methods for the Rehabilitation Process 63
- 13. Contents vii 3.3.1 Gait Analysis 63 3.3.2 Methods Based on Deep Learning 64 3.3.3 Use of Convolutional Neural Networks 64 3.4 Proposed System 65 3.4.1 Detection of Motion and Rehabilitation Mechanism 66 3.4.2 Data Collection Using Wearable Sensors 68 3.4.3 Raspberry Pi 68 3.4.4 Pre-Processing of the Data 68 3.5 Analysis of the Data 69 3.5.1 Feature Extraction 69 3.5.2 Machine Learning Approach 70 3.5.3 Remote Rehabilitation Mode 71 3.6 Results and Discussion 72 3.7 Conclusion 90 References 90 4 Smart Sensors for Activity Recognition 95 Rehab A. Rayan, Imran Zafar, Aamna Rafique and Christos Tsagkaris 4.1 Introduction 95 4.2 Wearable Biosensors for Activity Recognition 98 4.3 Smartphones for Activity Recognition 100 4.3.1 Early Analysis Activity Recognition 101 4.3.2 Similar Approaches Activity Recognition 101 4.3.3 Multi-Sensor Approaches Activity Recognition 102 4.3.4 Fitness Systems in Activity Recognition 103 4.3.5 Human–Computer Interaction Processes in Activity Recognition 104 4.3.6 Healthcare Monitoring in Activity Recognition 104 4.4 Machine Learning Techniques 105 4.4.1 Decision Trees Algorithms for Activity Reorganization 106 4.4.2 Adaptive Boost Algorithms for Activity Reorganization 106 4.4.3 Random Forest Algorithms for Activity Reorganization 106 4.4.4 Support Vector Machine (SVM) Algorithms for Activity Reorganization 106 4.5 Other Applications 107 4.6 Limitations 108 4.6.1 Policy Implications and Recommendations 109 4.7 Discussion 109 4.8 Conclusion 110 References 110
- 14. viii Contents 5 Use of Assistive Techniques for the Visually Impaired People 115 Anuja Jadhav, Hirkani Padwad, M.B. Chandak and Roshani Raut 5.1 Introduction 115 5.2 Rehabilitation Procedure 117 5.3 Development of Applications for Visually Impaired 121 5.4 Academic Research and Development for Assisting Visually Impaired 123 5.5 Conclusion 125 References 125 6 IoT-Assisted Smart Device for Blind People 129 Roshani Raut, Anuja Jadhav, Swati Jaiswal and Pranav Pathak 6.1 Introduction 129 6.1.1 A Convolutional Neural Network 130 6.1.2 CNN’s Operation 131 6.1.3 Recurrent Neural Network 134 6.1.4 Text-to-Speech Conversion 134 6.1.5 Long Short-Term Memory Network 134 6.2 Literature Survey 138 6.3 Smart Stick for Blind People 138 6.3.1 Hardware Requirements 140 6.3.1.1 Ultrasonic Sensor 140 6.3.1.2 IR Sensor 141 6.3.1.3 Image Sensor 141 6.3.1.4 Water Detector 141 6.3.1.5 Global System for Mobile Communication 142 6.3.1.6 Microcontroller Based on the Raspberry Pi 3 142 6.4 System Development Requirements 143 6.4.1 Captioning of Images 143 6.4.2 YOLO (You Only Look Once) Model 143 6.5 Features of the Proposed Smart Stick 145 6.6 Code 146 6.7 Results 147 6.8 Conclusion 147 References 148 7 Accessibility in Disability: Revolutionizing Mobile Technology 151 Nisarg Gandhewar and Senthilkumar Mohan 7.1 Introduction 152
- 15. Contents ix 7.2 Existing Accessibility Features for Mobile App and Devices 153 7.2.1 Basic Accessibility Features and Services for Visually Impaired 154 7.2.2 Basic Accessibility Features and Services for Deaf 155 7.2.3 Basic Accessibility Features and Services for Cognitive Disabilities 158 7.2.4 Basic Accessibility Features and Services for Physically Disabled 159 7.3 Services Offered by Wireless Service Provider 160 7.3.1 Digital Libraries for Visual 161 7.3.2 GPS 161 7.3.3 Relay Services 162 7.3.4 Living With Independent 162 7.3.5 Emergency Phone Services 162 7.3.6 Customer Service 162 7.4 Mobile Apps for a Person With Disability 162 7.5 Technology Giants Providing Services 166 7.5.1 Japan: NTT DoCoMo 169 7.6 Challenges and Opportunities for Technology Giants to Provide Product & Service 169 7.6.1 Higher Illiteracy Rate 169 7.6.2 Reach out to Customers With Disabilities 170 7.6.3 Higher Cost of Mobile Phones With Accessibility Features 170 7.6.4 Increasing Percentage of Disability 170 7.6.5 Unavailability of Assistive Technology in Regional Languages 170 7.6.6 Lack of Knowledge Concerning Assistive Solutions 171 7.7 Good Practices for Spreading Awareness 171 7.8 Conclusion 172 References 172 8 Smart Solar Power–Assisted Wheelchairs For the Handicapped 175 Abhinav Bhatnagar, Sidharth Pancholi and Vijay Janyani 8.1 Introduction 176 8.2 Power Source 178 8.2.1 Solar-Powered Wheelchair 179 8.2.2 Solar Energy Module 180
- 16. x Contents 8.3 Smart EMG-Based Wheelchair Control System 182 8.3.1 Techniques of EMG Signal Collection 184 8.3.2 Pre-Possessing and Segmentation of EMG Signal 185 8.3.3 Feature Extraction and Pattern Classification 186 8.3.3.1 Linear Discriminant Analysis (LDA) 188 8.3.3.2 Support Vector Machine (SVM) 188 8.3.3.3 Neural Network (NN) 189 8.3.3.4 Random Forest (RF) 189 8.4 Smart Navigation Assistance 189 8.5 Internet of Things (IoT)–Enabled Monitoring 190 8.6 Future Advancements in Smart Wheelchairs 191 References 192 9 Hand-Talk Assistance: An Application for Hearing and Speech Impaired People 197 Pradnya Borkar, Vijaya Balpande, Ujjwala Aher and Roshani Raut 9.1 Introduction 198 9.1.1 Sign Language 199 9.1.1.1 American Sign Language (ASL) 199 9.1.1.2 Comparison of ASL With Verbal Language 199 9.1.2 Recognition of Hand Gesture 202 9.1.3 Different Techniques for Sign Language Detection 202 9.1.3.1 Glove-Based Systems 202 9.1.3.2 Vision-Based Systems 202 9.2 Related Work 203 9.3 History and Motivation 204 9.4 Types of Sensors 205 9.4.1 Flex Sensor 205 9.4.1.1 Flex Sensor’s Specification 205 9.4.1.2 Flex Sensor Types 206 9.5 Working of Glove 213 9.5.1 Hand Gloves 213 9.5.2 Implementation Details at Server Side 214 9.5.2.1 Training Mode 214 9.5.2.2 Detection Mode 215 9.5.2.3 Text to Speech 215 9.6 Architecture 216 9.7 Advantages and Applications 220 References 221
- 17. Contents xi 10 The Effective Practice of Assistive Technology to Boom Total Communication Among Children With Hearing Impairment in Inclusive Classroom Settings 223 Fr. Baiju Thomas 10.1 Introduction 224 10.2 Students With Hearing Impairment 225 10.3 The Classifications on Hearing Impairment 226 10.3.1 Conductive Hearing Losses 226 10.3.2 Sensorineural Hearing Losses 227 10.3.3 Central Hearing Losses 227 10.3.4 Mixed Hearing Losses 227 10.4 Inclusion of Hearing-Impaired Students in Inclusive Classrooms 229 10.4.1 Assistive Technology 229 10.4.2 Assistive Technology for Hearing Impairments 230 10.4.3 Hearing Technology 231 10.4.4 Assistive Listening Devices 231 10.4.5 Personal Amplification 232 10.4.6 Communication Supports 233 10.5 Total Communication System for Hearing Impairments 233 10.6 Conclusion 236 References 236 Index 239
- 19. xiii Preface Rehabilitation engineering uses engineering sciences to develop techno- logical solutions and devices to assist individuals with disabilities and also supports the rehabilitation of those who have lost their physical and cog- nitive functions. Systems can be designed and built to meet a wide range of needs in order to help those with impaired mobility, communication, vision, hearing and cognition. And these tools and devices assist the dis- abled in their daily activities such as, for example, attending school or working. Intelligent systems have a wide range of technological developments which will enhance research in the field of rehabilitation engineering. The growing list of these developments, such as machine learning, deep learn- ing, robotics, virtual intelligence, etc., plays an important role in rehabili- tation engineering. The material collected in this book has been edited to provide infor- mation on current research achievements and challenges in the area of rehabilitation engineering and intelligent systems. The target audience of this book includes senior and junior engineers, undergraduate and post- graduate students, researchers, and anyone else interested in the trends, developments, and opportunities of rehabilitation engineering and intel- ligent system concepts. Research trends in the design and development of innovative technologies are highlighted along with the techniques involved. And even though it is impossible to include all current aspects of the research being conducted in targeted areas, the book is a useful resource in terms of presenting the various possible methodologies that can be applied to achieve results in the field. Presented below is a brief description of the topics covered in the 10 chapters of the book. – Chapter 1 discusses the different spheres of rehabilitation robotics. Robots are being widely used in medical practice to support various pro- cedures and therapies to help people with physical and psychological lim- itations. A survey was conducted on rehabilitation robotics that reviews
- 20. xiv Preface rehabilitation robots with an eye towards future applications. Many researchers have collaborated on an integrated human-robot structure with cognitive abilities; and orthotic and prosthetic devices can also ben- efit from rehabilitation robots. Additionally, sensing technology is being used in rehabilitation robots. Moreover, this chapter examines the use of rehabilitation robots in Europe and North America. – Chapter 2 reviews the use of neurorehabilitation robots for an auto- mated process for the upper limb. This chapter illustrates and defines all areas of mechanical recovery technology for novices, and captures the recent robot advances being widely used by talented scientists and cli- nicians. Also, a few company devices for mechanical recovery are given for a better understanding of the complete picture. The use of productive robotic methodologies promotes the recovery of motor skills. This inno- vation combines the outcomes of social investigations on motor learning and neurological recovery in the creation and execution of automated pro- cesses, with the approval of robot specialists who operate as ideal instruc- tors. Human-robot collaboration assumes a leading role in creating a beneficial relationship, where the human body and the robot can benefit from each other’s components. – Chapter 3 highlights an effective affordable rehabilitation robot for nervous system disorders powered by dynamic convolutional neural net- work (CNN) and hidden Markov model (HMM). Neurological disorders are a frequent health concern of billions of individuals around the world. This condition is caused by malfunctioning of the central and peripheral nervous systems. For example, Alzheimer’s and Parkinson’s diseases are not uncommon and wreck the lives of many people. In particular, those afflicted with Parkinson’s disease have impaired movement resulting in freezing of gait (FOG). The only accessible treatment option is the artificial creation of dopamine levels. Therefore, robotic rehabilitation devices have been proposed which apply vibrations to activate muscle performance. These bracelets, bands, and chains are part of the sensors which are fixed to the patient’s body. For processing sensor signals and decision-making, CNN and HMM are used. – Chapter 4 focuses on smart sensors for activity recognition. Health informatics is used to collect, store, and retrieve essential health-related data. Information and communication technologies and wireless con- nections lead to the creation of smarter sensors. These devices are com- monly used for self-monitoring of health and well-being. Use of smart sensors could help healthcare providers monitor the daily activities of the elderly. Also addressed in this chapter is the use of machine learning (ML)
- 21. Preface xv techniques on smartphones and wearables to capture and model human body motions and vital signs during activities of normal living. – Chapter 5 discusses the use of assistive technology for those who are visually impaired. Acquiring knowledge is difficult for the blind, with Braille being the most commonly utilized technique of transferring infor- mation to them. These new forms of Braille include American Literary Braille, British Braille, Computer Braille, Literary Braille, Music Braille, and so on. Traditional Braille writing employs a slate and stylus. Other forms of Braille writers and computer software, such as voice recognition software, special computer keyboards and optical scanners, have been developed. Virtual Pencil math software, Audio Exam Player, and educa- tional chatbots are a few examples of smart education solutions for the visually impaired. This chapter presents an overview of different rehabili- tation procedures. – Chapter 6 discusses IoT-assisted smart devices for the blind. Since blind people face several challenges, a lot of effort has been put into mak- ing them less reliant on others to perform tasks. As a result, we concep- tualized and constructed an intelligent blindfold. Also, a smart walking stick helps visually impaired people safely move around without assistance. Even though several walking sticks and aids currently exist, they do not feature run-time autonomous navigation, object detection, identification warnings, or voice and face recognition. The proposed stick combines IoT, echo location, image processing, artificial intelligence and navigation sys- tem technology to help the user avoid obstacles. – Chapter 7 focuses on the use of a technology that offers mobile acces- sibility to people with disabilities, who face numerous physical, social, and psychological problems. Inmany aspects of life, cutting-edge technologies are critically important. Mobile technology revolutionized the process of communication as well as education, business and rehabilitation. Many development platforms now have accessibility features that assist devel- opers in designing apps by leveraging machine learning and deep learn- ing, which benefit those with disabilities. A wide range of applications are available, but they all have advantages and disadvantages. The results of investigations may help those with disabilities find new alternatives that offer substantial assistance. – Chapter 8 presents a smart solar-powered wheelchair. Mobilization is a requirement for those with disabilities, and for those with a serious impairment a mechanical wheelchair isan adequate alternative. Because mechanical wheelchairs present a significant risk of upper limb strain and injury, electric-powered wheelchairs were invented to help reduce
- 22. xvi Preface this risk. However, inelectric-powered wheelchairs, motors are powered by batteries and hence have limited travel range and need frequent recharg- ing. These limits can be eliminated by adding a thin-film solar panel that can be mounted behind the wheelchair as a folding, retractable roof, which doesn’t employ a fixed, large, and heavy fixed panel that cannot be dismantled. Various design options, including smart controls that use electro encephalography (EEG) signals, smart navigation systems, and data acquisition via the IoT are also being considered. – Chapter 9 discusses hand-talk assistive technology. For those who are deaf, enabling their ability to communicate requires creative technology. Therefore, many technologies may be employed for communication. Since their major form of communication is gestures, a non-signing individual is unable to comprehend hand motions; therefore, a sign language-to- audible voice conversion technique is required in order for a person with “normal” hearing to be able to understand what is being said. This chapter discusses the technology that allows the deaf to converse with the general population by employing special sensor gloves. As the speech-and-hearing impaired person moves, their moving hand uses sign language, and the technology will intercept the movement and transform it into sound so that the person with “normal” hearing can easily hear it. For those that are speech-and-hearing impaired, speech recognition systems using EEG signals, smart navigation systems, and data collection via the IoT are also described in this chapter. – Chapter 10 discusses assistive technology for hearing-impaired chil- dren. Appropriate educational services are critical for children with hear- ing impairment (CwHI) due to diseases or accidents. Current research reveals that using assistive technology (AT) to communicate fully with others in an inclusive educational settingis highly beneficial for these chil- dren. Assistive technology has a strong influence on integrating these chil- dren in schools. Additionally, self-motivation is another benefit of using AT for CwHI. Assistive technology is the use of any communication device used to raise, expand, or enhance the experiences of a CwHI. It promotes the concept of beautiful individuality and works toward the aim of inclu- sive education by helping students manage their own needs. An inclusive education model studied CwHI, and the results of many trials, methodol- ogies, and facilities are discussed in this study. Also described are various techniques that enhance capabilities and resources to ensure that the AT can provide an inclusive classroom environment. To summarize, innovation has played an essential part in rehabilitat- ing individuals with disabilities over the ages by introducing new helpful
- 23. Preface xvii devices and techniques. While it is still possible to improve both user satis- faction and healthcare expenses, society’s happiness and wealth can also be affected. Most importantly, these rehabilitation and assistive technologies and strategies help people recover by improving cognitive function and other capabilities. The Editors November 2021
- 25. 1 Roshani Raut, Pranav Pathak, Sandeep Kautish and Pradeep N (eds.) Intelligent Systems for Rehabilitation Engineering, (1–18) © 2022 Scrivener Publishing LLC 1 Different Spheres of Rehabilitation Robotics: A Brief Survey Over the Past Three Decades Saumyadip Hazra, Abhimanyu Kumar, Yashonidhi Srivastava and Souvik Ganguli* Department of Electrical and Instrumentation Engineering, Thapar Institute of Engineering and Technology, Punjab, India Abstract Robots have been widely applied in the medical field to aid various surgeries and different therapies, to assist movement for patients with physical disabilities, etc. Although some review works have been carried out, trends and applications delib- erated, and future of rehabilitation robotics has been forecasted, yet a consolidated survey was missing in the literature. The objective of this survey is to present a review of the rehabilitation robots, which will also open the reader to understand futuristic applications in this domain. Several researchers worked on the inte- grated architecture of human beings and robots with cognitive skills. The applica- tion of rehabilitation robots in orthotics and prosthetics has also been significant. The use of sensing technology in rehabilitation robots has also been addressed. Further, the scenario of rehabilitation robotics in Europe and the northern part of America is also highlighted in this work. Keywords: Rehabilitation robotics, assistance robots, neurological disorders, prosthetics, exo-skeleton, smart robotics 1.1 Introduction Several researchers have contributed [1] to robotics applications in surgery, rehabilitation [2, 3], neurological disorders [4], prosthetics/exoskeleton *Corresponding author: [email protected]
- 26. 2 Intelligent Systems for Rehabilitation Engineering [5, 6], assistance [7], etc. The usefulness and development of rehabilita- tion robotics have been sufficiently emphasized in literature [8, 9]. The guidelines issued by the European Commission for robotics in healthcare were examined, and areas in rehabilitation robotics where the develop- ment is required are highlighted in [10]. The optimal approach for the iterative learning control for the robotic systems was described with its application in [11]. The research done in the field of exoskeleton robotic system was overviewed, and its applications were provided [12]. A novel method was presented for the development of a device for patients who suffered from sprained ankles and was able to track the activity of ankle [13]. The design, control, and application of Gentle/G system were pre- sented for the patients who were recovering from brain injury [14]. The control algorithms and use of AI were overviewed, and ongoing trends, issues, and future trends were discussed in [15]. The overview of the therapeutic robotic systems and its applications areas have been explored earlier [16]. A robotic workstation was constructed using a manipula- tor and was tested on spinal cord injury patients [17]. For the neuro- prosthetics of spinal cord injury patients, an effective FES system was developed [18]. A robotic ontology, called RehabRobo-Onto, was developed that dis- played the information of rehabilitation. A software RehabRobo-Query for facilitating the ontology was presented [19]. fMRI compatible rehabil- itation robotic glove was introduced for hand therapy and was equipped with a pneumatic actuator that generated motion [20]. RehabRobo-Onto, which was robotic ontology, was equipped with a method that answered natural language queries [21]. The estimation of force between joint posi- tion and joint actuation was done using an extended state observer (ESO) [22]. The process of recovery of upper limbs stroke patients was reviewed [23]. With the help of Virtual Gait Rehabilitation Robotics (ViGRR), a new concept of rehabilitation was introduced that did not require any therapist [24]. The properties of the exoskeleton robotic system were studied, and predictions regarding their benefit in coordination movements were done [25]. A design of the exoskeleton robotic system was proposed for the knee orthosis of poliomyelitis patients [26]. The previous reviews of such works can be found in [27, 28]. Work has also been conducted on the develop- ment of FCE using machine learning for rehabilitation robotics [29]. The applications of disturbance observer for rehabilitation and the challenges faced by them are presented in [30]. In this chapter, a thorough review of the various applications of robot- ics in rehabilitation has been conducted. The applications of robotics in neurology, cognitive science, stroke, biomechanical, machine interface,
- 27. Different Spheres of Rehabilitation Robotics 3 assistive, motion detection, limb injury, etc. are considered in this chap- ter. The chapter is organized as follows. Section 1.2 gives an overview of robotics for medical applications. Section 1.3 presents the relevant discus- sion and future scope in this direction. Finally, the chapter is concluded in Section 1.4. 1.2 An Overview of Robotics for Medical Applications 1.2.1 Neurological and Cognitive Behavioral approaches have been proved effective in many cases for the treatment of patients with different injuries. A multidisciplinary behav- ioral approach was made for patients who had movement issues [31]. Neurological disorders have been faced by many patients due to some or other reasons. In [32], a pneumatic muscle actuated orthosis system was developed, and in [33], VR technologies were used with rehabilitation robotics for curing of neurologically disordered patients. The overview of the tools used for the rehabilitation of patients with weak limbs due to neurological disorders was presented [34]. 1.2.2 Stroke Patients Stroke is a medical emergency that needs immediate treatment. A large number of cases around the world are witnessed every year. For disabled stroke patients, the key approaches used for treatment using MANUS robotic system were presented in [35]. A novel algorithm was developed based on performance-based-progressive theory for rehabilitation, and an algorithm was developed for triggering the recovery of stroke patients [36]. The approaches made in human-centered robotic systems were pre- sented and consisted of patient-cooperative abilities that did not impose any predefined movement on stroke patients [37]. ARKOD device for knee rehabilitation was presented, which had damping closed-loop control and an electro-rheological fluid for effective flexion of knee movement [38]. Virtual Gait Rehabilitation Robot (ViGRR) for providing gait motion, training, and motivation to the stroke patients was designed and proto- typed [39]. The wearable inflatable robot was designed for stroke patients and showed less cardiac activity for the therapist [40]. Table 1.1 enlists some of the published work with the proposed solution(s) for the stroke patients employing rehabilitation robotics.
- 28. 4 Intelligent Systems for Rehabilitation Engineering 1.2.3 Biomechanical or Mechatronic Robotic Systems A systems approach, mechatronics, mobility sensors, cost/benefit ratio, and softness were discussed for rehabilitation robotics [41]. An exoskeleton robot WOTAS was introduced and was loaded with control strategies that were based on biomechanical loading [42]. The analysis and applications Table 1.1 Summary of certain articles related to the use of robotics for stroke patients. Ref. number Area of rehabilitation robotics explored Remarks [35] MANUS robotic systems Different approaches used for treating disabled people and the main areas where MANUS system had significant effects were presented. [36] Assistance using a performance-based- progressive theory A novel method for assistance was developed for stroke patients, and the assistance was based on speed, time, or EMG limits. [37] Human-centered robotic systems The system was applied for the rehabilitation of the impaired stroke patients, and patient- cooperative system, which produced actions based on the actions of the patient, was presented. [38] Knee rehabilitation device AKROD A device was designed particularly for stroke patients and consisted of damped closed-loop control and electro-rheological fluid. [39] Haptic-based rehabilitation robot Virtual Gait Rehabilitation Robot (ViGRR) was designed for stroke patients, and its prototype was also presented. It provided gait motion, training, and motivation. [40] Inflatable wearable robot The device was tested on stroke patients and showed less cardiac and muscular activity by the therapist.
- 29. Different Spheres of Rehabilitation Robotics 5 of MEMS technology were tested by applying it to exoskeleton-based bio- mechatronic robotic systems [43]. Based on EMG signals, the torque pro- duced by the muscles was determined using a biomechanical model, and it was predicted whether the proposed model was feasible or not [44]. An ankle rehabilitation robotic device was built, and its mechanical perfor- mance was tested [45]. 1.2.4 Human–Machine Interfacing Human–machine integration includes the tactics incorporated for better communication between machines and humans. The structure and imple- mentation of CURL language, MUSIIC, RoboGlyph, and multitasking operator robotic system were presented [46]. The architecture of ARCHIN was produced whose task was to integrate machines with humans, and its performance was evaluated [47]. The perspective of human–machine interaction was presented, which included the issues faced by it and the solution to them [48]. 1.2.5 Smart Robotics A 2D vision-based localization system was illustrated, which could identify the light-emitting markers. It was equipped with a web camera and human– machine interaction interface [49]. An attempt was made for bridging the gap between assistive robotic systems and smart homes. Robotic system JOINT ANGLES AND JOINT MOVEMENTS INPUT LAYER 1ST HIDDEN LAYER 2ND HIDDEN LAYER OUTPUT LAYER EMG SIGNAL FOR SHOULDER MOVEMENT Figure 1.1 The architecture of the feed-forward neural network (FFNN) to obtain EMG signals from shoulder muscles.
- 30. 6 Intelligent Systems for Rehabilitation Engineering Table 1.2 Summary of certain studies which explored smart robotics for rehabilitation. Ref. number Area of rehabilitation robotics explored Remarks [49] 2D vision-based localization system The illustrated system could identify the light-emitting markers. The system was equipped with a web camera along with a human– machine interaction interface. [50] Assistive rehabilitation robotics and smart homes The proposed methodology bridged the gap between these two aspects. The robotic systems extended the movement of patients and smart homes accessed their requirements and made necessary changes in itself. [51] A novel algorithm for impaired patients’ therapy The proposed algorithm exploited the similarities between motor recovery and motor learning, which adopted with the patients as they recovered. [52] Feed-forward neural network (FFNN) FFNN was used for predicting the EMG signals from eight shoulder muscles of patients. [53] VR strategies VR was integrated with multimodal displays, which enhanced the performance and also provided feedback information to the patient and motivated the patients using additional audiovisual features. [54] Neural networking- based facial emotion interpreter Thermal images of persons who suffered from speech disorder were prepared, and then using a confusion matrix, its performance was evaluated. [55] Decision-making ability Task-oriented robots were studied and were tested on BAXTER to check whether it was able to assist the person for training or not.
- 31. Different Spheres of Rehabilitation Robotics 7 assisted the patient and smart home adjusted as per the requirements of the patient [50]. An algorithm was proposed for the therapy of impaired patients, which adopted with the patients as they recovered [51]. The feed-forward neural network (FFNN) was used for the determination of EMG signals from eight shoulder muscles [52]. A diagram representing the architecture of the feed-forward neural network (FFNN) to obtain the EMG signal from the different shoulder muscles is shown in Figure 1.1. VR technology was integrated with multimodal displays, which pro- vided feedback information to the patient and motivated him [53]. The facial emotions were determined using the thermal images for speech dis- order patients using a confusion matrix [54]. The decision-making ability of task-oriented rehabilitation robot was tested on BAXTER robot, and its feasibility was determined [55]. A synopsis of the above discussion on the smart robotics being employed for rehabilitation purposes is deliberated in Table 1.2. Table 1.2 summarizes some of the work that presented smart robotics for rehabilitation purposes. The work done in VR and NN technologies will instigate future research in this field. 1.2.6 Control and Stability Analysis of Robotic Systems The stability of teaching-in method was estimated by applying it to reha- bilitation robotics where it is the least error and fastest settling force was also calculated [56]. The prototype of device that enabled humans to feel and visualize synthetic objectives was designed [57]. Development of pneumatic controlled orthosis was described for stroke patients, and it was capable of position control of the robotic arm [58]. Design and interfacing of active leg exoskeleton (ALEX) were described for patients with impair- ment in which active force-field controller was used [59]. The complex nature of bio-cooperative rehabilitation systems and its control strategies was discussed. The probable solution to these problems was also described [60]. The stability analysis of rehabilitation robotics was presented, which consisted of the design of a controller to suppress the unintended move- ments [61]. An admittance control algorithm was applied on an underde- velopment rehabilitation robotics, and its preliminary report was generated [62]. The summary of the control aspects and the stability issues are pre- sented in Table 1.3. Thus, Table 1.3 enlists some of the work done in the field of control theory and stability analysis associated with robotics employed for reha- bilitation purposes.
- 32. 8 Intelligent Systems for Rehabilitation Engineering Table 1.3 Summary of certain articles on the control and stability analysis. Ref. number Area of rehabilitation robotics explored Remarks [56] Stability of teaching-in method The stability was analyzed applying it to rehabilitation robotics. The least error and fastest settling force were also calculated, and analysis was done on the elasticity of force sensor. [57] Devices that allowed humans to visualize and feel The prototype required motor control and the ability to learn about human motor tasks and capability to adapt to different situations. [58] Pneumatic actuated orthosis The system was developed for stroke patients. The system was capable of performing position control of the robotic arm and learning from the movement and storing it for movement the next time. [59] Design and interfacing of active leg exoskeleton (ALEX) The device included a force-field controller for applying forces for proper movement, and the experimental results based on it were also presented. [60] Importance of psychological factors in rehabilitation The article described challenges faced while using the closed-loop control of bio-cooperative rehabilitation systems. [61] Method for the stability analysis The method consisted of the ability to customize as per the recovery rate of the patient and had a controller to suppress the unintended movements. [62] Admittance control algorithm on hand rehabilitation The system consisted of a single degree of freedom. The robot was under development, and a preliminary report was generated, which showed positive results.
- 33. Different Spheres of Rehabilitation Robotics 9 1.2.7 Assistive Robotic Systems The importance of socially assistive robots was presented, which enter- tained the patients socially whenever they required [63]. For motivating, monitoring, and reminding stroke patients, an assistive robotic system was described, which also tracked the arm activity of the patient [64]. The cognitive strategy was extended with rehabilitation robotics by testing the Active Learning Program for Stroke (ALPS) [65]. Socially assistive robotics (SAR) was tested, and their kinematic and temporal features, which were related to fatigue, were determined [66]. 1.2.8 Limb Injury Importance of development of rehabilitation robotics for the patients who suffered from upper limbs impairment was highlighted [67]. An appli- cation of wireless sensing technology in rehabilitation robotics was pre- sented for patients who had upper limb injury due to stroke [68]. For the rehabilitation of upper limb injury patients, a task-oriented robotic system ADAPT was designed, and its performance was evaluated [69]. 1.2.9 Motion Detection Patients who suffer from any kind of impairment are not able to produce proper movement. The robotic systems may help in determining their intention of motion and aid it by helping them to move. Production of torque in the desired direction and compensation of kinetic and breakaway friction was presented [70]. Investigation of support vector machine (SVM) identified the sEMG signals from the muscles and produced motion in that KINEMATICS EMG Eye tracking Context Detect movement onset Estimate intended movement Provide robotic assistance Detect erroneous assistance Figure 1.2 Block diagram representation of the intention estimation algorithm.
- 34. 10 Intelligent Systems for Rehabilitation Engineering direction [71]. A method enhancing the degree of freedom of the patient and supporting the motion was developed. It was tested on ARM in III robotic system [72]. Based on the EMG signals produced by muscles, the torque and intention of motion were determined [73]. The visualization for the intention estimation algorithm is denoted by Figure 1.2 for inquisitive readers. The intended motion of hand for hemiparetic hand patients was done using sEMG signals. It was introduced in the form of a soft glove [74]. 1.3 Discussions and Future Scope of Work The research focusing on workstation adaptations of rehabilitation robot- ics is mentioned in [75]. Rehabilitation game was integrated with robotics based on reinforcement learning method and depending on the skills of the player. The difficulty level of the game was increased gradually as per the skills of player [76]. A system was designed for adjusting the difficulty of game based on the score produced by the player [77]. A diagrammatic representation of the difficulty adjustment in games as per the flow model is provided with the help of Figure 1.3. The works carried out then in Europe on rehabilitation robotics were summarized, and historical aspects and EU’s different funded and active projects were also summarized [78]. The projects that were carried out on rehabilitation robotics in North America were described, and they were HIGH CHALLENGE LOW LOW SKILLS HIGH FLOW CHANNEL Figure 1.3 The difficulty adjustment in games according to the flow model.
- 35. Different Spheres of Rehabilitation Robotics 11 Table 1.4 List of some works done in areas with potential future. Ref. number Area of rehabilitation robotics explored Remarks [14] Gentle/G system for patients with brain injury The design, control, and application of an experimental setup were presented for the rehabilitation. The robot had six active and three passive degrees of freedom. [24] Virtual Gait Rehabilitation Robotics (ViGRR) A novel concept for rehabilitation robotics; its insights were based on ViGRR and did not require any therapist. [33] VR in rehabilitation robotics Approaches made to cure neurologically disordered patients, and the importance of exercises by clinical robots was presented. [41] Mechatronic rehabilitation robotics A systems approach, mobility sensors, cost/benefit ratio, and softness were discussed. The importance of softness was also discussed and was considered as an important factor. [65] Robotic-assisted therapy Active Learning Program for Stroke (ALPS) was designed, and testing was done on patients for a while and was found successful in extending cognitive strategies. [66] Socially assistive robotics (SAR) SAR was tested, and kinematic and temporal features related to fatigue were determined. The test was done for a sit-to-stand test and concluded that three kinematic features had a relation with fatigue. [71] Support vector machine (SVM) The feasibility of SVM for the identification of the locomotion from sEMG signals produced by the muscles for rehabilitation robotics was calculated.
- 36. 12 Intelligent Systems for Rehabilitation Engineering judged as success or failure [79]. A summary of the project carried out jointly by VA and Stanford University was examined, and all the pros and cons of the project were listed [80]. Table 1.4 showcases a list of certain areas that have the potential future scope as well. Application of virtual reality, SVMs, etc. still requires innovative think- ing and ingenuity. Robots with multiple degrees of freedom and robotic- assisted therapy have constantly been a subject of research. The readers interested in pursuing this field could consider the above topics for their study. 1.4 Conclusion This chapter presents a review of the progress of rehabilitation robotics. Robots have found application in neurology, cognitive science, stroke, bio- mechanical, machine interface, assistive, motion detection, limb injury, etc. They have been used to aid surgeries and therapies, to take care of neurological disorders of patients, assisting patients for movement, etc. Adaptive robotics has been developed catering to patient needs and abil- ities. Moreover, the application of robots in orthotics, prosthetics, and neuro-rehabilitation has been intriguing. This chapter also presents the scenario of rehabilitation robotics in Europe and the northern part of America. The scope of research lies in the exploration of virtual reality, neural networks, and SVM, and application to robotics. The use of sensing technology in the rehabilitation robots with various degrees of freedom is also worthy of attention. The readers are encouraged to pursue this line of research. References 1. Speich, J.E. and Rosen, J., Medical robotics, in: Encyclopedia of biomaterials and biomedical engineering, vol. 983, p. 993, 2004. 2. Loureiro, R.C., Harwin, W.S., Nagai, K., Johnson, M., Advances in upper limb stroke rehabilitation: a technology push. Med. Biol. Eng. Comput., 49, 10, 1103, 2011. 3. Yue, Z., Zhang, X., Wang, J., Hand rehabilitation robotics on post- stroke motor recovery. Behav. Neurol., 2017, 2017. 3908135.://doi.org/ 10.1155/2017/3908135 4. Tefertiller, C., Pharo, B., Evans, N., Winchester, P., Efficacy of rehabilitation robotics for walking training in neurological disorders: A review. J. Rehabil. Res. Dev., 48, 4, 387–416, 2011.
- 37. Different Spheres of Rehabilitation Robotics 13 5. Nef,T.,Guidali,M.,Klamroth-Marganska,V.,Riener,R.,ARMin-exoskeleton robot for stroke rehabilitation, in: World Congress on Medical Physics and Biomedical Engineering, Munich, Germany, September 7-12, 2009, Springer, Berlin, Heidelberg, pp. 127–130, 2009. 6. Cardona, M., Destarac, M., Cena, C.G., Robotics for Rehabilitation: A State of the Ar, in: Exoskeleton Robots for Rehabilitation and Healthcare Devices, pp. 1–11, Springer, Singapore, 2020. 7. Pignolo, L., Robotics in neuro-rehabilitation. J. Rehabil. Med., 41, 12, 955– 960, 2009. 8. Krebs, H.I., Rehabilitation robotics: an academic engineer perspective, in: 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011, August, IEEE, pp. 6709–6712. 9. Yakub, F., Khudzari, A.Z.M., Mori, Y., Recent trends for practical rehabili- tation robotics, current challenges and the future. Int. J. Rehabil. Res., 37, 1, 9–21, 2014. 10. Gelderblom, G.J., De Wilt, M., Cremers, G., Rensma, A., Rehabilitation robotics in robotics for healthcare; a roadmap study for the European Commission, in: 2009 IEEE International Conference on Rehabilitation Robotics, 2009, June, IEEE, pp. 834–838. 11. Rogers, E., Owens, D.H., Werner, H., Freeman, C.T., Lewin, P.L., Kichhoff, S., Lichtenberg, G., Norm optimal iterative learning control with application to problems in accelerator based free electron lasers and rehabilitation robotics. Eur. J. Control, 16, 5, 497–524, 2010. 12. Pons, J.L., Rehabilitation exoskeletal robotics. IEEE Eng. Med. Biol. Mag., 29, 3, 57–63, 2010. 13. Dai, J.S., Zhao, T., Nester, C., Sprained ankle physiotherapy based mecha- nism synthesis and stiffness analysis of a robotic rehabilitation device. Auton. Robots, 16, 2, 207–218, 2004. 14. Loureiro, R.C. and Harwin, W.S., Reach & grasp therapy: design and con- trol of a 9-DOF robotic neuro-rehabilitation system, in: 2007 IEEE 10th International Conference on Rehabilitation Robotics, 2007, June, IEEE, pp. 757–763. 15. Novak, D. and Riener, R., Control strategies and artificial intelligence in rehabilitation robotics. Ai Mag., 36, 4, 23–33, 2015. 16. Krebs, H.I., et al., A paradigm shift for rehabilitation robotics. IEEE Eng. Med. Biol. Mag., 27, 4, 61–70, 2008. 17. Hillman, M.R., Pullin, G.M., Gammie, A.R., Stammers, C.W., Orpwood, R.D., Clinical experience in rehabilitation robotics. J. Biomed. Eng., 13, 3, 239–243, 1991. 18. Brunetti, F., Garay, A., Moreno, J.C., Pons, J.L., Enhancing functional elec- trical stimulation for emerging rehabilitation robotics in the framework of hyper project, in: 2011 IEEE International Conference on Rehabilitation Robotics, 2011, June, IEEE, pp. 1–6.
- 38. 14 Intelligent Systems for Rehabilitation Engineering 19. Dogmus, Z., Papantoniou, A., Kilinc, M., Yildirim, S.A., Erdem, E., Patoglu, V., Rehabilitation robotics ontology on the cloud, in: 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013, June, IEEE, pp. 1–6. 20. Yap, H.K., Lim, J.H., Nasrallah, F., Low, F.Z., Goh, J.C., Yeow, R.C., MRC- glove: A fMRI compatible soft robotic glove for hand rehabilitation appli- cation, in: 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), 2015, August, IEEE, pp. 735–740. 21. Dogmus, Z., Erdem, E., Patoglu, V., RehabRobo-Query: Answering nat- ural language queries about rehabilitation robotics ontology on the cloud. Semant. Web, 10, 3, 605–629, 2019. 22. Sebastian, G., Li, Z., Crocher, V., Kremers, D., Tan, Y., Oetomo, D., Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics. IEEE Robot. Autom. Lett., 4, 2, 1156–1161, 2019. 23. Krebs, H.I., Volpe, B., Hogan, N., A working model of stroke recovery from rehabilitation robotics practitioners. J. Neuroeng. Rehabil., 6, 1, 6, 2009. 24. Berezny, N., Dowlatshahi, D., Ahmadi, M., Novel Concept of a Lower-limb Rehabilitation Robot Targeting Bed-bound Acute Stroke Patients. CMBES Proceedings, vol. 42, 2019. 25. Penalver-Andres, J., Duarte, J., Vallery, H., Klamroth-Marganska, V., Riener, R., Marchal-Crespo, L., Rauter, G., Do we need complex rehabilitation robots for training complex tasks?, in: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 2019, June, IEEE, pp. 1085–1090. 26. Yu, K.P., Yeung, L.F., Ng, S.W., Tong, K.Y., Bionic robotics for post polio walking, in: Intelligent Biomechatronics in Neurorehabilitation, pp. 83–109, Cambridge, Massachusetts, Academic Press, 2020. 27. Tejima, N., Rehabilitation robotics: a review. Adv. Rob., 14, 7, 551–564, 2001. 28. Hillman, M., 2 rehabilitation robotics from past to present–a historical per- spective, in: Advances in Rehabilitation Robotics, pp. 25–44, Springer, Berlin, Heidelberg, 2004. 29. Fong, J., Ocampo, R., Gross, D.P., Tavakoli, M., Intelligent Robotics Incorporating Machine Learning Algorithms for Improving Functional Capacity Evaluation and Occupational Rehabilitation. J. Occup. Rehabil., 30, 3, 362–370, 2020. 30. Mohammadi, A. and Dallali, H., Disturbance observer applications in rehabilitation robotics: an overview, in: Powered Prostheses, pp. 113–133, Cambridge, Massachusetts, Academic Press, 2020. 31. van Vliet, P. and Wing, A.M., A new challenge—robotics in the rehabilitation of the neurologically motor impaired. Phys. Ther., 71, 1, 39–47, 1991. 32. Knestel, M., Hofer, E.P., Barillas, S.K., Rupp, R., The artificial muscle as an innovative actuator in rehabilitation robotics. IFAC Proc. Volumes, 41, 2, 773–778, 2008.
- 39. Different Spheres of Rehabilitation Robotics 15 33. Munih, M. and Bajd, T., Rehabilitation robotics. Technol. Healthcare, 19, 6, 483–495, 2011. 34. Krebs, H.I., and Volpe, B.T., Rehabilitation robotics, in: Handbook of clinical neurology, vol. 110, pp. 283–294, Amsterdam, Elsevier, 2013. 35. Rosier, J.C. et al., Rehabilitation robotics: The MANUS concept, in: Fifth International Conference on Advanced Robotics’ Robots in Unstructured Environments, 1991, June, IEEE, pp. 893–898. 36. Krebs, H.I., Palazzolo, J.J., Dipietro, L., Ferraro, M., Krol, J., Rannekleiv, K., Hogan, N., Rehabilitation robotics: Performance-based progressive robot- assisted therapy. Auton. Robots, 15, 1, 7–20, 2003. 37. Riener, R., Frey, M., Bernhardt, M., Nef, T., Colombo, G., Human-centered rehabilitation robotics, in: 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005, 2005, June, IEEE, pp. 319–322. 38. Weinberg, B., Nikitczuk, J., Patel, S., Patritti, B., Mavroidis, C., Bonato, P., Canavan, P., Design, control and human testing of an active knee rehabilita- tion orthotic device, in: Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007, April, IEEE, pp. 4126–4133. 39. Chisholm, K.J., Klumper, K., Mullins, A., Ahmadi, M., A task oriented haptic gait rehabilitation robot. Mechatronics, 24, 8, 1083–1091, 2014. 40. O’Neill, C. et al., Inflatable soft wearable robot for reducing therapist fatigue during upper extremity rehabilitation in severe stroke. IEEE Rob. Autom. Lett., 5, 3, 3899–3906, 2020. 41. Kwee, H.H., Rehabilitation robotics-softening the hardware. IEEE Eng. Med. Biol. Mag., 14, 3, 330–335, 1995. 42. Rocon, E., Belda-Lois, J.M., Ruiz, A.F., Manto, M., Moreno, J.C., Pons, J.L., Design and validation of a rehabilitation robotic exoskeleton for tremor assessment and suppression. IEEE Trans. Neural Syst. Rehabil. Eng., 15, 3, 367–378, 2007. 43. Rocon, E., Moreno, J.C., Ruiz, A.F., Brunetti, F., Miranda, J.A., Pons, J.L., Application of inertial sensors in rehabilitation robotics, in: 2007 IEEE 10th International Conference on Rehabilitation Robotics, 2007, June, IEEE, pp. 145–150. 44. Sartori, M., Reggiani, M., Mezzato, C., Pagello, E., A lower limb EMG-driven biomechanical model for applications in rehabilitation robotics, in: 2009 International Conference on Advanced Robotics, 2009, June, IEEE, pp. 1–7. 45. Guo, K., Zha, S., Liu, Y., Liu, B., Yang, H., Li, Z., Experimental Study On Wearable Ankle Rehabilitation Device, in: 2019 International Conference on Mathematics, Big Data Analysis and Simulation and Modelling (MBDASM 2019), 2019, October, Atlantis Press. 46. Harwin, W.S., Gosine, R.G., Kazi, Z., Lees, D.S., Dallaway, J.L., A comparison of rehabilitation robotics languages and software. Robotica, 15, 2, 133–151, 1997. 47. Galindo, C., Gonzalez, J., Fernández-Madrigal, J.A., An architecture for cog- nitive human-robot integration. Application to rehabilitation robotics, in:
- 40. 16 Intelligent Systems for Rehabilitation Engineering IEEE International Conference Mechatronics and Automation, 2005, 2005, July, vol. 1, IEEE, pp. 329–334. 48. Beckerle, P., Salvietti, G., Unal, R., Prattichizzo, D., Rossi, S., Castellini, C., Mastrogiovanni, F., A human–robot interaction perspective on assistive and rehabilitation robotics. Front. Neurorob., 11, 24, 2017. 49. Sabatini, A.M., Genovese, V., Maini, E.S., Toward low-cost vision-based 2D localisation systems for applications in rehabilitation robotics, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, October, vol. 2, IEEE, pp. 1355–1360. 50. Mokhtari, M., Abdulrazak, B., Feki, M.A., Rodriguez, R., Grandjean, B., Integration of rehabilitation robotics in the context of smart homes: Application to assistive robotics. Int. J. Human-friendly Welfare Robot. Syst. (HWRSERS), 4, 2, 29–32, 2003. 51. Buerger, S.P., Palazzolo, J.J., Krebs, H.I., Hogan, N., Rehabilitation robotics: adapting robot behavior to suit patient needs and abilities, in: Proceedings of the 2004 American Control Conference, 2004, June, vol. 4, IEEE, pp. 3239–3244. 52. Rittenhouse, D.M., Abdullah, H.A., Runciman, R.J., Basir, O., A neural net- work model for reconstructing EMG signals from eight shoulder muscles: Consequences for rehabilitation robotics and biofeedback. J. Biomech., 39, 10, 1924–1932, 2006. 53. Riener, R., Wellner, M., Nef, T., Von Zitzewitz, J., Duschau-Wicke, A., Colombo, G., Lunenburger, L., A view on VR-enhanced rehabilitation robot- ics, in: 2006 International Workshop on Virtual Rehabilitation, 2006, August, IEEE, pp. 149–154. 54. Appel, V.C., Belini, V.L., Jong, D.H., Magalhães, D.V., Caurin, G.A., Classifying emotions in rehabilitation robotics based on facial skin tem- perature, in: 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014, August, IEEE, pp. 276–280. 55. Wang, W.S., Mendonca, R., Kording, K., Avery, M., Johnson, M.J., Towards Data-Driven Autonomous Robot-Assisted Physical Rehabilitation Therapy, in: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 2019, June, IEEE, pp. 34–39. 56. Kovács, L.L. and Stépán, G., Dynamics of digital force control applied in rehabilitation robotics. Meccanica, 38, 2, 213–226, 2003. 57. Patton, J.L., Dawe, G., Scharver, C., Mussa-Ivaldi, F.A., Kenyon, R., Robotics and virtual reality: the development of a life-sized 3-D system for the reha- bilitation of motor function, in: The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2004, September, vol. 2, IEEE, pp. 4840–4843. 58. Wolbrecht, E.T., Leavitt, J., Reinkensmeyer, D.J., Bobrow, J.E., Control of a pneumatic orthosis for upper extremity stroke rehabilitation, in: 2006 International Conference of the IEEE Engineering in Medicine and Biology Society, 2006, August, IEEE, pp. 2687–2693.
- 41. Different Spheres of Rehabilitation Robotics 17 59. Banala, S.K., Agrawal, S.K., Scholz, J.P., Active Leg Exoskeleton (ALEX) for gait rehabilitation of motor-impaired patients, in: 2007 IEEE 10th International Conference on Rehabilitation Robotics, 2007, June, IEEE, pp. 401–407. 60. Mihelj, M., Novak, D., Ziherl, J., Olenšek, A., Munih, M., Challenges in bio- cooperative rehabilitation robotics, in: 2011 IEEE International Conference on Rehabilitation Robotics, 2011, June, IEEE, pp. 1–6. 61. Zhang, J., Cheah, C.C., Collins, S.H., Stable human-robot interaction con- trol for upper-limb rehabilitation robotics, in: 2013 IEEE International Conference on Robotics and Automation, 2013, May, IEEE, pp. 2201–2206. 62. Koçak, M., Ayar, O., Gezgın, E., Preliminary Study on the Admittance Control of a Hand Rehabilitation System, in: 2019 Medical Technologies Congress (TIPTEKNO), 2019, October, IEEE, pp. 1–4. 63. Feil-Seifer, D. and Mataric, M.J., Defining socially assistive robotics, in: 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005, 2005, June, IEEE, pp. 465–468. 64. Matarić, M.J., Eriksson, J., Feil-Seifer, D.J., Winstein, C.J., Socially assistive robotics for post-stroke rehabilitation. J. NeuroEng. Rehabil., 4, 1, 5, 2007. 65. Fasoli, S.E. and Adans-Dester, C.P., A Paradigm Shift: Rehabilitation Robotics, Cognitive Skills Training and Function after Stroke. Front. Neurol., 10, 1088, 2019. 66. Aguirre, A., Casas, J., Céspedes, N., Múnera, M., Rincon-Roncancio, M., Cuesta-Vargas, A., Cifuentes, C.A., Feasibility study: Towards Estimation of Fatigue Level in Robot-Assisted Exercise for Cardiac Rehabilitation, in: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 2019, June, IEEE, pp. 911–916. 67. Masiero, S., Carraro, E., Ferraro, C., Gallina, P., Rossi, A., Rosati, G., Upper limb rehabilitation robotics after stroke: a perspective from the University of Padua, Italy. J. Rehabil. Med., 41, 12, 981–985, 2009. 68. Schweighofer, N., Choi, Y., Winstein, C., Gordon, J., Task-oriented rehabili- tation robotics. Am. J. Phys. Med. Rehabil., 91, 11, S270–S279, 2012. 69. Cifuentes, C., Braidot, A., Rodríguez, L., Frisoli, M., Santiago, A., Frizera, A., Development of a wearable ZigBee sensor system for upper limb reha- bilitation robotics, in: 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012, June, IEEE, pp. 1989–1994. 70. Nef, T. and Lum, P., Improving backdrivability in geared rehabilitation robots. Med. Biol. Eng. Comput., 47, 4, 441–447, 2009. 71. Ceseracciu, E., Reggiani, M., Sawacha, Z., Sartori, M., Spolaor, F., Cobelli, C., Pagello, E., SVM classification of locomotion modes using surface electro- myography for applications in rehabilitation robotics, in: 19th International Symposium in Robot and Human Interactive Communication, 2010, September, IEEE, pp. 165–170.
- 42. 18 Intelligent Systems for Rehabilitation Engineering 72. Novak, D. and Riener, R., Enhancing patient freedom in rehabilitation robot- ics using gaze-based intention detection, in: 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013, June, IEEE, pp. 1–6. 73. Ai, Q., Ding, B., Liu, Q., Meng, W., A subject-specific EMG-driven muscu- loskeletal model for applications in lower-limb rehabilitation robotics. Int. J. Humanoid Rob., 13, 03, 1650005, 2016. 74. Wang, L., Peng, G., Yao, W., Biggar, S., Hu, C., Yin, X., Fan, Y., Soft robotics for hand rehabilitation, in: Intelligent Biomechatronics in Neurorehabilitation, pp. 167–176, Cambridge, Massachusetts, Academic Press, 2020. 75. Neveryd, H., Eftring, H., Bolmsjö, G., The swedish experience of rehabilita- tion robotics, in: Proc. of Rehabilitation Robotics Workshop, 1999. 76. Andrade, K.D.O., Fernandes, G., Caurin, G.A., Siqueira, A.A., Romero, R.A., Pereira, R.D.L., Dynamic player modelling in serious games applied to reha- bilitation robotics, in: 2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol, 2014, October, IEEE, pp. 211–216. 77. Andrade, K.D.O., Pasqual, T.B., Caurin, G.A., Crocomo, M.K., Dynamic difficulty adjustment with Evolutionary Algorithm in games for rehabilita- tion robotics, in: 2016 IEEE International Conference on Serious Games and Applications for Health (SeGAH), 2016, May, IEEE, pp. 1–8. 78. Dallaway, J.L., Jackson, R.D., Timmers, P.H., Rehabilitation robotics in Europe. IEEE Trans. Rehabil. Eng., 3, 1, 35–45, 1995. 79. Harwin, W.S., Rahman, T., Foulds, R.A., A review of design issues in reha- bilitation robotics with reference to North American research. IEEE Trans. Rehabil. Eng., 3, 1, 3–13, 1995. 80. Van der Loos, H.M., VA/Stanford rehabilitation robotics research and devel- opment program: lessons learned in the application of robotics technology to the field of rehabilitation. IEEE Trans. Rehabil. Eng., 3, 1, 46–55, 1995.
- 43. 19 Roshani Raut, Pranav Pathak, Sandeep Kautish and Pradeep N (eds.) Intelligent Systems for Rehabilitation Engineering, (19–56) © 2022 Scrivener Publishing LLC 2 Neurorehabilitation Robots Review: Towards a Mechanized Process for Upper Limb Yogini Dilip Borole*1 andRoshani Raut2 1 Department of E&TC, G H Raisoni Institute of Engineering and Technology, SPPU, Pune University, Pune, India 2 Department of Information Technology, Pimpari Chinchwad College of Engineering, SPPU, Pune University, Pune, India Abstract Restoration Robotics gives a presentation and outline of all zones of recovery mechanical technology, ideal for anybody new to the field. It likewise sums up accessible robot advancements and their application to various pathologies for tal- ented scientists and clinicians. A few business gadgets for mechanical recovery have empowered to build up the ability and skill important to manage those looking for complete comprehension of the point. The usage of productive robot methodolo- gies encourages the re-securing of engine abilities. This innovation fuses the results of social examinations on engine learning, and its neural relates into the plan, exe- cution, and approval of robot specialists that act as “ideal” coaches, effectively abus- ing the construction and versatility of the human sensorimotor frameworks. In this specific situation, human–robot cooperation assumes a principal part, at both the physical and intellectual levels, toward accomplishing an advantageous connection where the human body and the robot can profit by one another’s elements. Keywords: Exoskeleton, electromyograph, rehabilitation robots, stroke 2.1 Introduction The proportion of adolescent patients with functional impairment of the upper appendages brought on by stroke has increased rapidly, as influenced *Corresponding author:
- 44. 20 Intelligent Systems for Rehabilitation Engineering by the speed of life, unhealthy lifestyle, and environmental factors [1, 2]. The issue of appendix development, brought on by hemiplegia after a stroke, not only reduces patient satisfaction but also carries excruciating pain in education and scientific expertise. Strong restorative adjustment can improve patients’ sensory function and maintain a level of joint action, and prevents reunion and improves patients’ “final recovery rate.” The engine operates basically [3]. The most common remedy for recovery is moderate exercise of patients by a specialist. This strategy is difficult to build a compulsory treatment plan and is largely well managed [4]. With the advancement of robotic rehabilitation and drug rehabilitation, the regenera- tive robot has become a new therapeutic sensory therapy. It is very important to abuse the introduction of robots in order to recover the supplemental dose of patients with stroke [5]. Common treatment strategies, based on expert clinical knowledge, have problems with high staff utilization, long recovery cycles, side effects of restricted boundaries, etc. for the successful rehabil- itation of clinical assets, and to improve personal satisfaction of patients with stroke [6, 7]. The advanced add-on robot can be divided into two types according to the original design: the last foot and the type of exoskeleton. The latter type actually provides a return that prepares for flight develop- ment. In addition, the exoskeleton type expands the range of retrieval adjust- ments from the plane to the third-dimensional (3D) space, which can help the affected appendix to complete the adjusted restoration in 3D space. The exoskeleton retrieval robot for the most part conducts the development of patient placement with the aid gadget (otherwise called the mechanical exo- skeleton structure). The design of the auxiliary gadget is similar to the bone structure of a human implant. During the preparation, the patient append- ages and comparing parts of the assistant gadget are merged together, and the merger bar of the auxiliary gadget rotates the associated member in order to deliver moving additions. It can make the appendages be trained especially in a variety of situations by controlling the gadget’s auxiliary power indi- cators. Currently, the basic strategy of the exoskeleton robot repositioning model is one of the hottest problems in robotic retrieval tests. Contributing to the construction of various equipment and recovery levels, various land reclamation robots are developed, e.g., unique exoskeleton ADEN-7 robot with 7 degrees [8], ARMIN robot with six levels of chance (four dynamic and two active) semi-exoskeleton structure [9], an ARMEO robot that pro- vides arm weight depletion network that supports emotional preparation, enhancement of installation, and test instruments [10], etc. In addition, the air muscles are used as a pilot to receive four levels of stimulus potential for the RUPERT movement robot [11], a LIMPACT water-based robot [12], and a CAREX cord-based robot [13]. Since then, scientists have recreated
- 45. Neurorehabilitation Robots Review 21 and designed a superficial regenerative robot based on pneumatic muscle drive [2], a superficial regenerative retrieval robot, an over-the-top rescue robot, and a half-drive and under the upper exoskeleton drive retrieval robot [14–22]. The reciprocal robot takes care of the problem of controlling the adequacy of movement and the summary of each human body during the recovery time spent repairing and overcomes the burden of ultimately redi- recting recovered robot, which can only make basic adjustment (direct or circular movement) enough for minimal movement. Currently a protected and productive robotic retrieval building available for different applica- tions. In any case, in the system of exoskeleton prostheses, the integration of mechanical joint movement pivot and human joint movement hub is important. The exoskeleton produces a surprising effect on the patient’s joint under a deformed condition, which not only promotes pain associated with the patient’s injury but also further prevents the developmental space of the patient’s placement, and reduces the impact of prepared recovery. In line with these lines, the pivot of each travel pair is directed and focused on the reversal of each joint of the human body in the same way as can be con- sidered in the external regenerative device system. The movement of each integration of the foreign exchange gadget is basically accepted by modifying or moving the couple, and obtained positive results [23, 24]. Compared with non-invasive treatment, the robotic rehabilitation framework has the advan- tages of high preparation, easy-to-measure performance measurement, and long-term systematic treatment of patient rehabilitation. To meet the need for rehabilitation of patients with augmentation [21, 25] problem, a robotic over-the-counter replacement robot is being devel- oped, primarily a powerful recovery and rehabilitation gadget for patients with stroke. The basic renewal process is shown in Figure 2.1. Because of the understanding of common rehabilitation barriers and displays of regenerative robots, combined with the upper body appendage of vital signs structures and parameters, we determine the arm develop- ment for each integrated range from all bones and upper limbs to improve extension features; this document proposes a robotic regenerative robot design system. It is an over-the-top acquisition robot used for therapeutic restorative therapy for hemiplegic supplementation to maintain the range of motion of the appendix, prevent muscle degeneration of the appen- dix, improve system muscle strength, and promote functional recovery. As a result, it can provide a powerful recovery gear for patients with high appendage hemiplegia brought on by stroke [31, 47]. In this article, due to the investigation of life structures, the movement of metal, and the range of motion of the upper human appendix, the movement area of each joint is determined by the human arm, and part of the machine
- 46. 22 Intelligent Systems for Rehabilitation Engineering all levels designed. First, set the location link between each moving part and the ultimate high return robot wear; then model the navigation system set up on the Denavit-Hartenberg (DH) boundary plan, and the movement space is set up for an advanced wearable high-speed acquisition robot. The kine- matics test is used to disperse the movement of the over-the-top wearable robot. Alternatively, to check if the return robot designed for top wear is able to understand the top assistant adjustable adjustment, working space is allocated to an over-the-counter wearable robot. Third, to investigate the harvesting potential of a more advanced retrieval robot, a powerful simula- tion of the robot has been completed. In conclusion, it is planned to control the robots for the acquisition of high-quality wearable, which received the following results of the adjustment of the robotic reversal. It also ensures the ingenuity of the return robot design for high wear. The main commitments for this article are summarized as follows: (1) Due to the speculative health features, partial movements, and scope of additional human appendages, a retrieval robot mounted with a pressure gauge is located directly on the fixed bat, then re-examined, interrupted by the above appendix depending on the patient relying on flex- ible transmission during recovery to prepare the scale. A Nervous system specialist Essential Stabilization Appraisal Crisis Treatment Inactive versatility Dynamic Mobility Mechanical System Figure 2.1 Basic rehabilitation process.
- 47. Neurorehabilitation Robots Review 23 joint operated by specially designed joints intended for the elbow/wrist and shoulder joint is driven by a dental band. All engines connected to the link have been reversed to achieve greater distance transmission and reduce driving delays for the last members. The material belt is rigged to drive the members of the return robot designed for high wear, which authorizes high balance. The design of an obsolete durable adhesive robot pro- motes the restoration of integration, adequately reduces the volume, weight, and delay of the actuators, and achieves a lightweight design of the standard design. (2) In addition, the paper proposes a parallel design for the wrist-operated. With a rope and kept in a spring pressure. With a rope and kept in a spring pressure, the fixed base and the moving base of the additional decorative return robot are connected to the three wires and the spring pressure involved. The fixed base and the moving base of the addi- tional decorative return robot are connected to the three wires and the spring pressure involved. The springs are designed to mimic the human wrist and support the versatile section to complete the growth of the wrist, while the wires are formed by regenerating the wrist muscles to control the wearable retrieval robot. In this paper, the system approach will con- tribute to the ongoing investigation of equal instruments with flexible members. The results will play an important role in reversing the development of the human wrist and further in improving the retrieval robot, the cord that creates the drive. (3) The kinematics and performance of the retrieval robot designed for high wear are also confirmed, decreasing according to the DH plan and the Monte Carlo process. It shows that a removable retrieval robot that can be worn can meet recovery needs by preparing for kinematics/ element investigations as well as prepared tests. In this way, it also looks at the availability and adequacy of the planning strategy, which provides an important strategy for improv- ing the robot recovery tool. 2.2 Recovery and the Robotics The accompanying issues have consistently existed in recovery [1]: • Operational and useful redesign from a cerebral perspec- tive and engine recuperation appear to require treatments
- 48. 24 Intelligent Systems for Rehabilitation Engineering that require a significant utilization of the appendage related with an imaginative kind of learning as well as capacity con- cerning new engine abilities. • Based on the past thought, it is apparent that straightfor- ward developments do not lead to greatest recuperation of the restored appendage. • Based on the primary thought, it is additionally certain that even the utilization of uninvolved activities does not prompt ideal recuperation of the influenced appendage. Thus, the thinking prompted the beginning and the first utilization of mechanical technology as commonsense and viable restoration devices [2, 3] in light of the fact that they can permit organization of recovery treatments that include: 1. Rousing and drawing in recovery work out. 2. Preparing that both upgrades and amplifies the usefulness of the appendage. 3. A climate brimming with rousing improvements. Recovery upheld by the utilization of automated frameworks can have various points of interest [4]. Specifically, it permits more escalation and is custom-fitted to the patient recovery exercises and administrations (expanding the sum and nature of treatment that can be regulated); what’s more, it permits all the elaborate entertainers in the group (e.g., physio- therapists, doctors, bioengineers, and different figures) to set and deal with some work boundaries to make the recovery explicit and ideal for the patient (the kind of activity, the degree of help from the robot, the power and the kinematic that the patient should apply, following the exercise). 2.2.1 Automated Technological Tools Used in Rehabilitation There are two distinct sorts of mechanical innovative instrument (RTT) in restoration for both the lower and upper appendages. The first depends on exoskeletal instruments. The second is of the end-effector type. 2.2.1.1 Exoskeletal-Type RTT The exoskeletal robot, regardless of whether it is for the lower [5] or upper appendages [6], totally covers the appendage, following and imi- tating its anthropometric attributes and hence managing each portion associated with the recovery practice. The exoskeletons are frameworks
- 49. Neurorehabilitation Robots Review 25 with a combination of mechanical and electronic segments that com- prise a mechatronic mechanical assembly that is worn and that plays out a similar sort of kinematic/dynamic action rehearsed by the patient who wears it. These frameworks cover the influenced appendage, or if noth- ing else the piece of the appendage influenced by the clinical viewpoints from a restoration perspective. In these frameworks, the quantity of lev- els of opportunity is equivalent to that of the joints on which the resto- ration treatment should mediate depending on the targets. As to recovery of the lower appendages [4], we allude to class 1 exoskeletal frameworks regarding nonportable mechanical frameworks. Class 1 has a place with those nonportable automated frameworks comprising of a mechanical exoskeleton. At times, there is likewise a body weight uphold (BWS) [4] type framework circulated over the entire body for weight alleviation, a transport line, and a control data framework including biofeedback reac- tion frameworks dependent on augmented experience. These frameworks are normally utilized uniquely in the facility and halfway establish a devel- opment of unadulterated BWS frameworks. We explicitly allude to Class 2 exoskeletal frameworks with explicit reference to versatile frameworks that can likewise be utilized remotely to the restoration clinical climate. 2.2.1.2 End-Effector-Type RTT In a mechanical end-effector gadget, the contribution for completing the restoration work out comes straightforwardly from the distal piece of the appendage, permitting the characteristic kinematic initiation of the development without unnatural requirements. These frameworks are uti- lized for both lower [7] and also upper appendage [8, 9] restoration. The robot with the end-effector interconnects to the appendage in a solitary point, for the most part a handle or a grasp point for the restoration of the upper appendage or a pedal-like apparatus for the restoration of the lower appendages. As regard the restoration of the upper appendages regarding end-effector frameworks, now and again we talk about Cartesian frame- works because of certain imperatives that can be forced in the directions additionally joined with explicit activities (likewise gamified) given by programming. 2.2.2 Benefits of the RTTs Both the two RTTs produce persistent advantages [4–9]. It is currently grounded that for the lower appendages, the RTT produces different advantages, counting:
- 50. 26 Intelligent Systems for Rehabilitation Engineering Improved trunk control. Improvement of the rest wake cadence and decrease of apparent weariness in conveying our everyday life exercises. Pain alleviation. Improvement in the condition of emotional well-being. Improvement of general anthropometric attributes (decrease of fat mass, increment of lean mass). Improvement of intestinal and bladder work. A portion of these advantages are additionally gotten because of the blending with explicit programming additionally dependent on computer- generated simulation (VR) as well as enlarged reality (AR), and further- more in characterized secured vivid virtual conditions where the recovery situations called Cave Programmed Virtual Environment (better known with the abbreviation CAVE) occur. It is presently grounded that for the upper appendages, the utilization of an RTT shows a few benefits, including: • Neuromata improvement of appendage work. • Pain alleviation. • Improvement in the condition of psychological well-being • Improvement of general anthropometric attributes (decrease of fat mass, increment of lean mass). • Improvement of psychological capacities. Aportionoftheseadvantagesareadditionallyacquiredthankstoblending with explicit programming that, for the most part, offers spurring GAME and as of late, at times, is likewise dependent on computer- generated real- ity or potentially enlarged reality. 2.3 New Directions to Explore and Open Problems: Aims of the Editorial 2.3.1 New Directions of Research and Development and First Aim of the Editorial As of now, advanced mechanics for recovery are pushing a great deal of inno- vative work; what’s more, various new fascinating headings are opening both straightforwardly associated with the automated apparatuses referenced above and on the side of a considerably more extensive restoration measure.
- 51. Neurorehabilitation Robots Review 27 A portion of these headings that all the more straightforwardly relate with movement recovery [4, 10, 11] are: 1. To evaluate the impacts of utilizing robots at various periods of recuperation. 2. To create wearable robots simple and viable to wear and eliminate. 3. To diminish the expenses likewise by methods for new mod- els of care. 4. To improve and reevaluate the models of care dependent on advanced mechanics. 5. To engage the cooperative energy and coordinated effort between experts of the recovery group and architects through shared and appropriately planned undertakings. 6. To make computer-generated reality, expanded reality, at home advancements, exoskeleton, and counterfeit insight accessible for the treatment of psychological as well as degenerative conditions. Different bearings, more engaged to mental help, in a more extensive way to deal with recovery measure are the accompanying [12]: 1. To put resources into social robots explicitly intended to help during the recovery stages (concerning model being taken care of by the older). 2. To put resources into social robots explicitly planned as social middle people to help during correspondence/treat- ment movement (as being taken care of by the chemical imbalance). 3. To deal with the issue of the sympathy in mechanical tech- nology particularly according to communication with the social robots. Considering the abovementioned, the publica- tion intends to invigorate researchers to report their encoun- ters identifying with different parts of advancement on the turn of events and utilization of mechanical technology in recovery both from a mechanical and clinical perspective. 2.3.2 Open Problems and Second Aim of the Editorial In spite of the incredible improvement of advanced mechanics in the res- toration field, we are helping to a few unique methodologies in the utiliza- tion and in the pertinent models of care. For instance, both the recovery
- 52. 28 Intelligent Systems for Rehabilitation Engineering treatments and the results in the global display are frequently evaluated in an alternate manner. As in different areas, for example, telemedicine, mechanical technology is regularly utilized exceptionally restricted to direct as well as examination projects. Much the same as in telemedicine, all angles that can fortify the utilization of mechanical technology in rou- tine clinical exercises should be tended to in the global display with solid committed activities. Through this methodology, restoration advanced mechanics will actually want to be important for the arrangement of pro- posed medical care offers in each state with an unmistakable repayment of the demonstrated administrations. Considering the abovementioned, the article points likewise to animate researchers to report their encoun- ters identified with these different parts of the utilization of mechanical advances utilized in the recovery habitats and research facilities. From this assortment acquired with heterogeneous strategies, which probably will go from the audit to the mass overview, we hope to have significant reactions and boosts for the global academic local area. 2.4 Overview As the findings regarding the Global Activity on Neurology and Public Health developed by the World Health Organization, a large number of vas- cular disorders continue and are reversible, contain a global medical issue [1], and have a particular impact on individual adults. Also, a high future makes society of more than 60 people progressively higher [2]. Persistent gatherings for rehabilitation administrators in the Commonwealth are designed for neurological disorders, as outlined in the general view [3]. 70% of respondents provided recovery management for people with stroke, multiple sclerosis, severe cerebrum injury, neurological disorders, and, in addition, other neuromuscular conditions. The different treatments men- tioned were those that provided recovery for people with a single brain injury (10%), spinal cord injury (9%), amputees (5%), muscle paralysis (4%), learning disabilities (1%), and suffering (1%). In Spain, a similar situ- ation appears where muscle and bone failure (half), neurological disorders (15%), severe injuries (29%), and others (6%) are treated in the manage- ment of recovery [4]. The current situation, along with the need for further recovery, assistance for people with disabilities, means that automatic care and rehabilitation can play a significant role in the long run. Nowadays, research on the use of automated frameworks in various fields identified by healthcare is extensive [5–7]. In the field of recovery, logical writing demonstrates the different order of such structures as indicated by their level of communication [8],
- 53. Neurorehabilitation Robots Review 29 the most important points treated [9–12], the release of rescue robots [13, 14], control strategies [15, 16], and therapeutic efficacy [17–20]. In any case, no experiments were performed on the method of appropriate recovery, and the commitment of mechanical technology to the various stages of the recovery or communication cycle was not examined. In this article, an efficient writing survey is directed to distinguish the commit- ment of mechanical technology for upper appendage neuro rehabilita- tion featuring its connection with the restoration cycle and to explain the planned examination headings in the advancement of a self-sufficient recovery measure. 2.5 Renewal Process A World Disability Report by WHO and the World Bank [21] provides the definition of recovery: “a number of measures that help people who experience, or are likely to experience, inability to achieve and continue to function effectively in communication with their surroundings.” in various definitions in a world characterized by social diversity. UMeyer et al. [22] provided the calculated visual recovery: “The social process is based on the WHO integration model of perfor- mance, inefficiency and efficiency, with the aim of empowering people with medical problems they experience or tend to cope with inability to achieve and maintain good co-operation with the climate” of the patient’s well-being throughout the recovery cycle. These interactions include tan- gible evidence of human problems and needs, related to issues in human priorities and climate, setting goals for recovery, planning and action, and impact assessments [21]. This approach is called the recovery cycle (see Figure 2.1), adapted from the World Report on Disability [21], and recently developed by Stucki and Sangha [23] and modified by Steiner et al. [24]. By the way it works, the recovery cycle consists of four steps: testing, operation, mediation, and testing. The interaction occurs at two levels: the first is about the direction given by the continuation of care, and the sec- ond is about the provision of specific care [25]. From a practical point of view, the test program contains an ID of individual issues and needs, an investigation of the ability to rescue and guess, a description of the assis- tance provided, and the objectives of the plea program. Work refers to the placement of a person in the most appropriate intercession assistance pro- gram in treating their needs. From the direction of the guide, no decisions appear on the roll. Assessment refers to the help and accomplishment of the purpose of intercession. From the point of view of providing specific
- 54. 30 Intelligent Systems for Rehabilitation Engineering assistance, the assessment includes tangible evidence of issues, audits, and expected changes in assistance or mediation program objectives, a descrip- tion of the main objectives of the recovery cycle, and objectives to address. The action phase refers to the professional side, and social advocacy is essential to achieving the goals of mediation. Dependence includes the determination of methods, measures, and a description of the target mea- sures to be achieved within a predetermined timeframe. Ultimately, testing determines spatial achievements related to specific symptoms, recovery cycle objectives, and, finally, the goals of the mediation program. It also includes selections in relation to the requirement for another mediation cycle based on other tests. 2.5.1 Renovation Team Rehabilitation requires the management of many medical care provid- ers with novel skills, preparation, and skills that are used to fully restore patients’ strengths and their positive recovery in all areas of life [26]. Rehabilitation experts have chosen the concept of “continuous focused treatment.” This is not intended to alleviate the needs of the patient but rather to strengthen the patient as the head and judge of the mediation as indicated by the wishes implanted by the patient [27]. The inclusion of different clinical approaches can be done with three functional models [26, 28]: (a) a multigroup model—in which colleagues interact and transmit between them, knowing that they are composed of all components and provide testing and equal but free operation; (b) a multisectoral group model—in which group members share a common source of information (intended to encourage the advancement of nonfiction), and selections are made in one or a few general circuits (hence, drugs developed by indepen- dent experts); and (c) a multidisciplinary team model—not only promot- ing communication within the group but also gaining information from other related scholars and joining them in training [29]. Since the segmen- tation model is specific to promote early communication, it is extremely appropriate for retrieval groups [28]. 2.5.2 Renewal Methods and Results Recovery techniques are a myriad of recovery activities that reflect more physical strength, structure, exercise and coordination, natural flexibility, and other factors. The effects of restorative benefits and changes in human performance over the long term cannot be measured by a single mea- sure or set of measures [30]. These results can be tested in three terms
- 55. Another Random Scribd Document with Unrelated Content
- 56. were stationed in the port during the succeeding two months. The victory of the Norfolk hero, Lord Nelson, at Trafalgar in 1805, discouraged Napoleon I., and he relinquished his intention to invade this land of freedom. In July 1806, the local militia act was passed, and many of the volunteers transferred their services to that body. The volunteer corps of Norwich and Norfolk were disbanded on March 24th, 1813. The West Norfolk militia returned to Norwich from Ireland, on May 11th, 1816, and were disembodied on June 17th in that year. A long peace of 40 years ensued, but the old trade of Norwich destroyed by the war, never revived. In January, 1817, upwards of £3000 were contributed to relieve the poor, many of whom were employed in making a new road to Carrow, and in other public works, the trade of the city being in a state of stagnation. 1804. January 18th. The city of Norwich Regiment of Volunteer Infantry, 600 strong, commanded by Lieut. Col. Harvey, received their colours. The banners, given by the mayor and corporation, were first consecrated in the Market Place, by the Rev. E. S. Thurlow, prebendary of Norwich, with a suitable address and prayer, and were afterwards presented by the mayor, John Morse, Esq., to the colonel in due form. The king’s and regimental standards were then delivered to the ensigns. The Artillery, under Capt. Fyers, stationed on the Castle Hill, fired salutes; the Regiment fired three vollies; and St. Peter’s bells rang merry peals. June 1st. The city of Norwich (or 7th) Regiment of Norfolk Volunteer Infantry, commanded by Lieut. Colonel Harvey, entered on one month’s permanent duty in Norwich. The Regiment mustered 500 strong, exclusive of officers. June 4th. The anniversary of His Majesty’s birthday was celebrated in Norwich by the grandest military spectacle ever witnessed here. Upwards of 1700 men of the Royal Artillery, 24th Regiment of Foot, and the Norwich Volunteer Corps, assembled on the Castle Hill and
- 57. fired a feu de joie with fine effect. During this year the citizens were often entertained with military displays. June 18th, Major General Money was appointed to the staff of the eastern district; in which a force of 32,000 men was now fully completed for the reception of any invading enemy. June 18th. The corporation granted the site of the Blackfriars, in St. Andrew’s, to the court of guardians, for 200 years at their old rent for the purpose of improving the same, and repairing the Old Workhouse for the poor, the plan of erecting a New Workhouse having been abandoned. Subsequently, large sums of money were wasted in repairing the old house, sufficient to build a new one, and ultimately it was found to be absolutely necessary to build a new house, which was done at a cost of £30,000. 1805. January 17th. At a public meeting held at the Guildhall, it was resolved to establish an hospital and school for the indigent blind, in Norwich and Norfolk. Towards the foundation of this admirable institution, Thomas Tawell, Esq., contributed a house and three and-a-half acres of land in Magdalen Street, valued at £1050. Mr. Tawell, who was unfortunately blind, introduced his humane proposal in an able speech, appealing for subscriptions. A large sum was at once subscribed. The hospital was opened on the 14th October following. February 2nd. Dr. Charles Manners Sutton, bishop of Norwich, was nominated by the king, and chosen, February 12th, archbishop of Canterbury. On the 13th, His Grace arrived at the palace, Norwich, from London. On the 15th, the mayor and court of aldermen proceeded in state from the Guildhall to the Bishop’s Palace, where the recorder, Mr. Harvey, delivered an address of congratulation to the archbishop on his translation, to which His Grace returned a dignified answer. Next day, the clergy of Norwich waited on His Grace, when the Rev. Dr. Pretyman, prebendary, addressed the archbishop in an appropriate speech, to which His Grace made an
- 58. impressive reply. On the 17th His Grace preached his farewell sermon in the Cathedral. February 24th. The clergy of Norwich having intimated an intention of applying to Parliament for an increase of their incomes, then very small, by assessment, the council, at a quarterly assembly, resolved to oppose the application; the citizens, in vestry meetings, being unanimous against the measure, which was never carried out. March 18th. Dr. Henry Bathurst (one of the prebendaries of Durham) was elected bishop of Norwich by the dean and chapter. He soon made himself universally beloved by the clergy and the citizens. Professor Taylor gave the following account of the late and also of the newly appointed bishop:— “In 1805, Dr. Bathurst succeeded Dr. Sutton as bishop of Norwich. The latter, who had been translated to the See of Canterbury, was a man of polished manners, extravagant habits, and courtier-like address. He was too polite to quarrel with anybody and too prudent to provoke controversy. He neither felt nor affected to feel any horror of Unitarians. He invited them to his table, and at the request of the mayor, he preached a charity sermon at St. George’s Colegate, knowing that my father had been asked and had consented to write the hymns.” “Dr. Bathurst removed from Durham to Norwich, and as he was a stranger in his new residence, never having taken any prominent part as a public man, little expectation was excited as to his future conduct. He was known to owe his elevation to his relation, Lord Bathurst; and it was generally taken for granted that his views on public affairs were similar to those of the administration of which that noble lord was a member. Curiosity led me to the Cathedral to hear the new bishop’s primary charge, and I soon found the spirit it breathed to resemble the benevolence that beamed from his countenance.”
- 59. “What the bishop preached he also practised. He never shrunk from appearing to be what he really was, nor while he received a dissenter in his study with politeness would he pass him unnoticed in the street. He was to be seen walking arm-in-arm with persons, of all persuasions, whom he respected, in the streets of Norwich. He was not afraid of shaking ‘brother Madge,’ as he called him, by the hand, nor of welcoming Unitarians to his table. What he was as a member of the house of peers, on all occasions in which the great principles of religious liberty were concerned, is well known. I have only here to speak of his conduct as a resident in Norwich.” Sept 3rd. The committee of the court of guardians appointed to examine the poor rates of the city and hamlets, for the purpose of obtaining a more equal assessment, made their report, in which they stated that an increase of £16,000 stock and £1800 rent, calculating on the half rental only, might be made, and recommended a general survey and new valuation to be taken, in consequence of the great alteration which had taken place in property since 1786, when the previous survey was taken. December 17th. There was a grand entertainment at the Assembly Rooms, in honour of Lord Nelson’s glorious victory off Cape Trafalgar; more than 450 ladies and gentlemen of the city and county were present. The rooms were decorated with transparencies and brilliantly illuminated for a grand ball and supper. The victory so celebrated, and which had been won on October 21st, was dearly purchased by the death of Viscount Nelson. The last order given before the action began, was by the newly-invented telegraph:—“England expects every man to do his duty.” 1806. January 9th. This day the great bells of the several churches in the city were tolled from twelve till two o’clock, it being the day on which the remains of the immortal Lord Nelson were interred under
- 60. the dome of St. Paul’s Cathedral. The body, after lying in state in the hall of Greenwich Hospital, was brought thence on January 8th by water to Whitehall stairs, and carried on a bier to the Admiralty Office, and deposited in the Captain’s room for the night. Next day the corpse was removed on a funeral car, drawn by six horses, to St. Paul’s. The Duke of York headed the procession, the grandest ever witnessed; 500 persons of distinction attended at the funeral. February 24th. At a quarterly assembly of the corporation, a loyal address was unanimously adopted, to be presented to His Majesty, “expressive of their gratitude for the paternal affection which he has shown to his subjects, by waiving every consideration, but the public good, in the appointment of men of the first abilities in the country to the high offices of state!” 1807. March 4th. A committee of the House of Commons declared Mr. Windham and Mr. Coke not duly elected, and another election took place for two members for the county. Sir J. H. Astley, Bart., and Edward Coke, Esq., (of Derby) were returned without opposition. Mr. Windham afterwards took his seat for New Romney, and Mr. Coke was returned for Derby vice his brother, who had previously accepted the Chiltern Hundreds. May 14th. The anniversary of the birthday of that illustrious statesman, the Right Hon. Wm. Windham, was celebrated at the Angel Inn (now Royal Hotel) by a large party of his numerous friends. William Smith, Esq., M.P., presided. June 16th. Robert Herring, Esq., was sworn into the office of mayor of Norwich; and he afterwards gave a dinner to 150 gentlemen at Chapel-field house. October 6th. The first meeting was held of the revived Norfolk Club at the Angel Inn, Norwich. Sir John Lombe, Bart., was in the chair. The Hon. Colonel Fitzroy, Mr. W. Smith, and Mr. Windham were also present.
- 61. 1808. January. By the telegraph, orders from the Admiralty Office were received at Yarmouth, in 17 minutes. The chain of communication was by Strumpshaw, Thorpe Hills, Honingham, Carlton, and Harling, and from thence proceeded between Thetford and Bury, over Newmarket Heath to London. Captain Manby’s invention for rescuing persons stranded on a lee shore, was approved by the Lords of the Admiralty. Parliament rewarded Captain Manby at different times with grants amounting to £6000, and adopted his apparatus at many parts of the coast. July 29th. At a special assembly of the corporation of Norwich, an address to his majesty was agreed to unanimously, on the subject of the noble struggle of the patriots of Spain and Portugal against the Ruler of France, and of the generous aid given to their endeavours by the government. 1809. January. In consequence of Colonel Robert Harvey not being joined by a sufficient number of the Volunteers under his command to become a local Militia Battalion, he resigned the command of the Norwich Volunteer Regiment, and was succeeded by Colonel De Hague. May 9th. The six Regiments of Norfolk Local Militia first assembled to perform 28 days’ exercise. They were stationed at Norwich, Yarmouth, Swaffham, and Lynn. October 15th. The Norwich corn merchants demanded of the farmers a month’s credit, instead of paying ready money for their corn as heretofore, but it was resisted by the growers, and ultimately abandoned by the merchants. November 2nd. After an interval of seven years, there was a grand musical festival here, combining oratorios at St. Peter’s Church, and concerts at the Theatre, under the direction of Mr. Beckwith, eldest
- 62. son of the late Dr. Beckwith. Professor Hague, of Cambridge, led the band. 1810. January 20th. The disputes between the corn growers and buyers in the city and county, having been amicably adjusted, a reconciliation dinner took place at the Maid’s Head Inn. Amongst the toasts was, “Fair Play—ready money on both sides, or ready money on neither.” February 4th. Died at Gunton, in his 77th year, the Rt. Hon. Harbord Lord Suffield. He represented Norwich from 1756 to 1786. He was much respected by his constituents. April 26th. The first stone of the new bridge at Carrow was laid by the mayor, T. Back, Esq., in due form. August 6th. The first stone of the Norwich Foundry Bridge was laid by Alderman Jonathan Davey, the projector of the undertaking. September 27th. A contest took place for the office of alderman of the great Northern ward, in the room of John Herring, Esq., who died on the 23rd, aged 61. The poll closed as follows—for William Hankes, Esq., 258; N. Bolingbroke, Esq., 229. The former was declared duly elected. December 8th. The Rev. Edward Valpy, B.D., was elected by the aldermen, master of the Free Grammar School, Norwich, in the room of the Rev. Dr. S. Forster, resigned. Under Mr. Valpy, the school attained great celebrity, and here Rajah Brooke and other eminent men were educated. 1811. January 15th. Mr. Thomas Roope was convicted at the sessions of having sent a challenge to Mr. Robert Alderson, Steward of the Corporation, to provoke him to fight a duel; and was sentenced to pay a fine of 40/- to the king, and to be imprisoned for one month.
- 63. June 29th. Mr. Thomas Roope was sentenced in the Court of King’s Bench, to be committed to the custody of the marshal for three months, and to find sureties afterwards, for a libel on Thomas Back, Esq., late mayor of Norwich. August 6th. A portrait of Thomas Back, Esq., was placed in St. Andrew’s Hall. It was painted by Mr. Clover, a native of the city. September 11th. A numerous meeting was held in St. Andrew’s Hall, with the mayor, J. H. Cole, Esq., in the chair, when the Norfolk and Norwich Auxiliary Bible Society was instituted. The Bishop of Norwich (who was present) was appointed president, and the three secretaries of the British and Foreign Bible Society also attended. Annual meetings have been held ever since. 1812. June 16th. Starling Day, Esq., was sworn in Mayor of Norwich for the second time; but in consequence of his advanced age and infirmities, there was no dinner in St. Andrew’s Hall, on the guild-day. Mr. Alderman Davey (who was one of the unsuccessful candidates for the office of mayor on May 1st and 2nd) gave a dinner under the trees adjoining his house at Eaton, to about 500 freemen of the liberal interest. Strange as it may seem now, contests often took place for the office of mayor, during the old corporation. July 17th. At a meeting of noblemen, gentry, and clergy, held at the Shirehall, (Lord Viscount Primrose in the chair,) the Norfolk and Norwich Society for the education of the poor in the principles of the Church of England, was established. Upwards of £3000 was subscribed for the object. The Lord Bishop of Norwich was elected patron, and Lord Suffield, president. 1813. May 1st. A contested election for the office of Mayor of Norwich came on, and was not finished till next morning, when Alderman Davey and J. Harvey were returned as the two highest;
- 64. but on May 3rd, an objection was made to Alderman J. Harvey, as being ineligible, from his not being a resident inhabitant of the city, as required by charter. Counsel’s opinion was obtained in favour of that objection, and another election took place on June 7th, when another contest ensued, and after a spirited poll the numbers were— for Alderman Leman, 797; Alderman Davey, 801. The Court of Aldermen elected the former gentleman. July 4th. Great rejoicings took place here on the arrival of the news of the great victory obtained by the British army commanded by the Marquis of Wellington, over the French army, under Joseph Buonaparte, at Vittoria in Spain, on June 21st, when the enemy lost 151 pieces of cannon, 415 waggons, all his baggage, and many prisoners. The Marquis of Wellington was promoted to be a Field- Marshal. A form of prayer and thanksgiving for this victory was used in all the churches on August 1st. 1814. May 1st. An election took place for the office of Mayor of Norwich, and the contest lasted two days. Aldermen Back and Robberds being the highest on the poll, a scrutiny was demanded on behalf of Alderman Davey. The scrutiny commenced on the 12th, and continued till the 19th, when Alderman Davey declined proceeding further. Aldermen Robberds and Back were then returned to the Court of Aldermen, who elected J. W. Robberds, Esq., to serve the office of Mayor. June 3rd. The Expedition coach being the first to arrive in Norwich with the news of the definitive treaty of peace, (signed at Paris on the 30th ult.,) was drawn by the people four times round the Market Place, and through the principal streets. June 8th. The Newmarket mail arrived in Norwich with news of the Corn Importation Bill having been thrown out of the House of Commons by a majority of 10, and was dragged by the excited people for hours through the streets. At night a great bonfire was made.
- 65. June 27th. Peace with France was proclaimed. The mayor and corporation went in a procession of carriages from the Guildhall through the principal streets, preceded by trumpets, and accompanied by thousands of people. July 7th. The thanksgiving day for the happy restoration of peace. The mayor and corporation attended divine service at the Cathedral. About 700 children from the church schools went in procession to St. Andrew’s Hall, where a plentiful dinner of roast beef and plum pudding was provided for them by the treasurers of the charity schools. The poor in their several parishes participated in the general joy, and were regaled with plentiful dinners, paid for by subscriptions. 1815. March 4th. The late Professor Taylor stood a contest, for the third time, for nominee of St. Peter’s Mancroft ward. Of course he was beaten, this being an orange-and-purple ward, but he polled 107 votes. However, he was soon afterwards elected a common councilman, without difficulty, in the Northern ward, where the blue- and-whites had always a large majority. This was on March 16th, and on May 3rd he was elected a member of the court of guardians. He took a very active part in local politics, and was the first man who ever reported and published the proceedings of the common council. June 23rd. The glorious news was received in Norwich, with triumphant rejoicings, of the ever memorable victory obtained by the Duke of Wellington over the French army, commanded by Buonaparte in person, at Waterloo, near Brussels, on the 18th. Buonaparte fled to Paris, leaving upwards of 200 pieces of cannon in the hands of the allied armies. June 27th. Rejoicings were renewed here on the news being received of the second abdication of Buonaparte, the immediate consequence of the grand victory of La Belle Alliance.
- 66. 1816. January 18th. This day was appointed a thanksgiving day for the restoration of peace, and it was solemnly observed. The mayor and corporation of Norwich attended divine service at the Cathedral. Sermons were preached at the different places of worship, and collections were made for the poor. January 25th. At the 51st anniversary of the Castle corporation, Thomas Back, Esq., alderman, presented two medals to be worn by the recorder and steward of the society. Each medal bore a good likeness of Mr. Pitt, on a beautiful cameo; the motto round which was Non Sibi sed Patriæ Vixit. On the reverse were the words, “Presented by Thomas Back, Junior, Esq., to the Castle Corporation, Norwich, in commemoration of the great victory of Waterloo, obtained on the 18th June, 1815, by the Allied Armies under the command of Field Marshal the Duke of Wellington;” and around this was the motto, “In memory of the Right Hon. William Pitt; died the 23rd January, 1806, aged 47.” January 29th. Died, aged 86, Robert Harvey, Esq., called the Father of the City of Norwich, for his great benevolence and liberality and promotion of trade. February 20th. A numerous meeting was held at the Guildhall, Norwich, with the mayor, J. H. Yallop, Esq., in the chair, when resolutions against the property tax, and a petition founded thereon, were passed unanimously. Similar petitions were sent from Lynn, Yarmouth, and other towns. County meetings were also held to petition against the tax. March 29th. At a public meeting held at the Guildhall, Norwich, with the mayor in the chair, it was resolved to establish a bank for savings, where servants and others might deposit a portion of their earnings. It was opened on April 29th, and has continued to be very prosperous.
- 67. April 3rd. A meeting of merchants, manufacturers, and others, was held at the Guildhall, Norwich, John Harvey, Esq., presiding, when resolutions were passed to instruct the city members to watch and oppose the intended measure for allowing the exportation of wool free of all restrictions. This measure was for the time relinquished. April 4th. At a public meeting held under the presidency of the mayor, a petition to parliament was adopted for the repeal of the Insolvent Debtors’ act as being injurious to trade and commerce. It was not repealed for a long time. May 11th. The West Norfolk militia returned to Norwich from Ireland, and were disembodied on the 17th of June. May 16th. A number of riotous persons, chiefly youths, broke into the New Mills, in Norwich, threw some of the flour into the mill pool, and committed several outrages on persons and dwellings before they dispersed. The pretext for the disturbance was the want of employment. They assembled again on the next evening, but were dispersed by the magistrates and military, and several of the rioters were taken into custody. Similar proceedings took place at Downham and other places in Norfolk. June 17th. At a quarterly assembly of the corporation, an address of congratulation to the Prince Regent was voted, to be presented to his Royal Highness, on the occasion of the marriage of the Princess Charlotte of Wales, and Prince Leopold of Saxe Coburg. The address was presented by the city members. The marriage took place on May 2nd. June 18th. This day being the anniversary of the glorious victory of Waterloo, the non-commissioned officers and privates of the First Royal Dragoons, and other soldiers quartered in Norwich, were treated with a handsome dinner in the cavalry riding school, several gentlemen having entered into a subscription for that purpose, the corporation adding the sum of £10. Robert Hawkes, Esq., first suggested the entertainment.
- 68. July 10th. An address of congratulation was voted by the court of mayoralty of Norwich, to be presented to the Princess Charlotte and Prince Leopold on their marriage. October 14th. A public meeting was held in St. Andrew’s Hall (Mr. Sheriff Bolingbroke in the chair), when certain resolutions, and a petition to parliament founded thereon, were agreed to. The petition was for the greatest possible retrenchment of the public expenditure, and for a Reform of the House of Commons. Thus early began the Reform movement, and it continued to extend all over the country. It became stronger and stronger, till at last it overcame all opposition. 1817. January 1st. At a public meeting in the Guildhall, with the mayor, William Hankes, Esq., presiding, a subscription was commenced to relieve the labouring poor, which amounted to £3050. The poor people were employed on works of public improvement, and were supplied with soup, c. Upwards of £1000 was also raised at Yarmouth for the same laudable purpose, and 460 men were employed in forming roads to the Bath House, Jetty, c. The committee in Norwich granted £270 to be expended for labour on cutting a road through Butter Hills to Carrow Bridge, which was effected in the course of the summer. March 26th. The severest contest took place ever known for nominees of Wymer, or the Long ward, very few votes remaining unpolled. Some of the freemen came in post-chaises from Thetford to poll. The numbers were, Messrs. S. Mitchell, 306; J. Reynolds, 305; A. Thwaites, 292; Messrs. W. Foster, 297; R. Purland, 288; C. Higgen, 283. Mr. Foster was successful, having five votes above Mr. Thwaites, one of the old nominees. April 4th. On Good Friday morning, Wright’s Norwich and Yarmouth steam packet had just started from the Foundry Bridge, when the boiler of the engine burst with a tremendous explosion, by which the vessel was blown to atoms, and of 22 persons on board, five men
- 69. three women, and one child were instantly killed. Six women with fractured arms and legs were conveyed to the hospital, where one died. The remaining seven escaped without much injury. A subscription amounting to £350 was raised for the sufferers. Soon afterwards, a packet was introduced on the river, worked by four horses, as in a thrashing machine; the animals walking in a path 18 feet in diameter. The vessel was propelled from six to seven miles an hour, as wind and tide favoured. This packet did not long run, and steam packets were again introduced, which went from Norwich to Yarmouth daily. September 26th. A meeting was held in St. Andrew’s Hall, when an auxiliary association to the London Society for Promoting Christianity amongst the Jews was established. The Lord Bishop of Norwich was appointed president. Annual meetings have been held ever since to promote the objects of the society. December 3rd. At a special meeting of the corporation, two addresses of condolence, one to the Prince Regent, and the other to Prince Leopold, of Saxe Coburg, were voted, expressive of the grief of the citizens on the death of the Princess Charlotte. 1818. January 5th. The court of guardians having determined to proceed in the valuation of the property in the city and hamlets, Messrs. Rook, Athow, and Stannard were appointed to make such valuation. They were to be paid £850 for their trouble. A repository was established in Norwich for the sale of articles of ingenuity, to increase the funds of the society for relieving the sick poor in Norwich. The first exhibition took place on Tombland fair day, at Mr. Noverre’s room. March 11th. This year, the several wards in Norwich (except the Northern ward) were strongly contested, particularly the Wymer ward. After a spirited poll for nominees of the common council, the numbers were for Mr. Foster, 361; Mr. Higgen, 357; Mr. Purland, 355;
- 70. Mr. Mitchell, 345; Mr. Culley, 340; Mr. Beckwith, 322. The liberal party at last obtained the ascendancy, but had to pay for it. The expenditure at this local contest was estimated at some thousands. From £15 to £40 were given for votes, and the freemen were brought in carriages from the country. May 16th. This being Guild-day, Barnabas Leman, Esq., was sworn in mayor of Norwich for the second time. The corporation went in procession to the Cathedral, preceded by the Blue and White Clubs, the freemen wearing those colours in their hats, which was considered improper and ill-timed. Mr. William Smith, before the procession started, after recommending his friends to abstain from this display of party feeling on such a day, pulled his colours from his hat and put them in his pocket. It being quite a matter of taste, his example was not followed. 1819. This year some important meetings were held, and a good deal of political excitement prevailed in the city. Mr. E. Taylor was elected sheriff after a contest with Mr. T. S. Day. The former was evidently the popular candidate, the numbers being for Taylor 807, for Day 530. In acknowledging the honour which had been conferred upon him he said,— “There are times, gentlemen, when the post of honour is the post of duty—times when it is the duty of every man to stand forward to maintain and uphold the laws of his country, and prevent them from being outraged. Such, gentlemen, are the present. Scenes have recently been exhibited in a distant part of this country which I blush to mention. The laws have there been outraged and trodden under foot, not by the people, but by the magistrates, whose duty it was to protect them. At Manchester we have seen a merciless soldiery, or rather, I should say, persons wearing red coats, and pretending to be soldiers, let loose to butcher men, women, and children in cold blood who were peaceably and legally met to discharge a duty
- 71. which they owed to their country. The right of petitioning is a right which, till lately, we have enjoyed uninterruptedly, none daring to make us afraid; and where is the man who will tell me that these people did not legally and constitutionally meet? But, gentlemen, they have been treated in a manner so brutal and inhuman, that our history furnishes no parallel.” He alluded to the “Peterloo Massacre” as it was then called, and which excited universal indignation throughout the country. January 25th. The birthday of Mr. Fox was commemorated, by nearly 250 gentlemen, at the Assembly rooms. The earl of Albemarle presided, supported by Mr. Coke and Viscount Bury. The high sheriff was at the head of the right hand table, and Mr. Wm. Smith of the left. After dinner, speeches were delivered, setting forth the views of the Liberal party. April 15th. A public meeting was held in St. Andrew’s Hall, when a petition to the House of Commons against the duty on coals (6s. 6d. per chaldron) was adopted by acclamation. R. H. Gurney, Esq., M.P., assured the meeting that he should support the prayer of the petition, and do everything in his power towards alleviating the burdens of his fellow-citizens. The tax was ultimately abolished. April 22nd. The duke of Sussex arrived in Norwich and lodged at the house of William Foster, Esq., in Queen Street, where his royal highness was waited upon by the mayor and corporation. Mr. Steward Alderson, in an address of congratulation on his arrival, informed his royal highness that the whole body corporate had voted to him the freedom of the city, which the royal duke was pleased to accept, at the same time returning a dignified answer. On the next day a grand meeting of the Masonic brethren, 320 in number, was held in Chapel-field house. The large Assembly room was decorated in the most splendid style. At 10.30 a.m., the duke of Sussex (as grand master of England) installed Thomas Wm. Coke, Esq., M.P., as provincial grand master, with the accustomed Masonic ceremonies. His royal highness delivered an impressive charge, on investing Mr.
- 72. Coke with the jewel, apron, and gloves. After this ceremony a procession was formed, every officer and member of the assembled lodges wearing his full masonic costume and jewels, and the banners were carried in the procession to the Cathedral. In the evening, there was a sumptuous banquet in St. Andrew’s Hall, at which the royal duke presided, supported by Mr. Coke and I. Ives, Esq., the deputy provincial grand master. About 254 persons dined, and many ladies were present to witness the festive scene. Toasts were proposed in right royal style, and duly responded to. Next day His Royal Highness was admitted to the honorary freedom of the city at the Guildhall, where he took the customary oaths. After visiting the exhibition of the Artists’ Society, the royal duke left Norwich about noon and proceeded to Holkham, paying a visit to Sir George Jerningham, at Cossey Hall, on his way thither. May 28th. The anniversary of the birthday of the Rt. Hon. Wm. Pitt was commemorated at the Assembly rooms, Norwich, by a very numerous company of noblemen, gentlemen, and citizens. June 4th. The anniversary of the birthday of the long afflicted sovereign, George III., who had entered on the eighty-second year of his age, was celebrated for the last time in Norwich, Yarmouth, Lynn, and other towns, with the accustomed demonstration of loyalty and attachment. July 15th. Meetings were held in Norwich, and resolutions were passed, and petitions to parliament adopted, against the proposed additional duties on malt and on foreign wool. Petitions were also presented to parliament praying for an alteration in the corn laws, in consequence of the depressed state of agriculture. September 16th. A public meeting was held in St. Andrew’s Hall, in order to take into consideration the late disastrous transactions at Manchester, on August 16th. The mayor, R. Bolingbroke, Esq., presided, when resolutions were adopted asserting the right of the subject to petition the king, and the legality of the late meeting at Manchester, censuring the conduct of the magistrates and yeomanry,
- 73. and recommending a subscription for the relief of the sufferers. An address to the prince regent was agreed to for the removal of ministers from his presence and councils for ever. The address was afterwards presented by the city members. October 18th. A public meeting was held by adjournment at the Guildhall to take into consideration the propriety of erecting a bridge over the river, near the Duke’s Palace, to connect Pitt Street with the Market Place. A proposition to that effect was negatived, but a bill for erecting the bridge was introduced into parliament and ultimately passed. Nearly £9,000 were proposed to be raised, by shares of £25 each, to complete the same. The bridge was built in course of time, and toll had to be paid for many years. By the exertions and influence of the late T. O. Springfield, Esq., the bridge was made a free thoroughfare, greatly to the convenience of the citizens. 1820. January 5th. At a special meeting of the Diocesan Committee of the Society for Promoting Christian Knowledge, held in Norwich, (the Lord Bishop presiding) resolutions were adopted to counteract the evil effects of infidel and blasphemous publications, by issuing tracts of the Parent Society at very reduced prices, and a subscription was entered into for that purpose. January 24th. The anniversary of the birthday of the Right Hon. C. J. Fox was commemorated by a grand public dinner in St. Andrew’s Hall by 460 noblemen and gentlemen, amongst whom were the Duke of Sussex, the Duke of Norfolk, the Earl of Albemarle (who presided), Viscount Bury, Lord Molyneux, and many other leading gentlemen of the liberal party. The hall was handsomely decorated, and the names of Fox and Albemarle appeared in variegated lamps, and in a semi-circular transparency was that of Sussex, in letters of gold upon a ground of purple silk. January 30th. A messenger from London brought to Lord and Lady Castlereagh (who were at Gunton Hall) the melancholy tidings of the death of King George III., which became known in Norwich on the
- 74. following morning, when nearly all the shops were closed, and the bells of the churches were tolled for three hours. The king died on January 29th, in the 82nd year of his age, and the 60th of his troubled reign, during which long wars desolated Europe, doubled our national debt, and impoverished the country. His Royal Highness, the Prince of Wales, (who was appointed regent on February 6th, 1811,) immediately ascended the throne. King George IV. was soon afterwards seriously indisposed with inflammation in the lungs, but happily recovered from the attack in the course of a week. February 1st. King George IV. was proclaimed on the Castle Hill by the High Sheriff, Sir William Windham Dalling, Bart., amid the cheers of those assembled. On the same day His Majesty was proclaimed in the city in full form and with great rejoicings. March 6th. A spirited contest took place for the gown, vacant by the death of Starling Day, Esq., alderman of Wymer ward. At the close of the poll the numbers were for Henry Francis, Esq., 413; John Lovick, Esq., 372; majority for Mr. Francis 41, who was declared duly elected. In this month Messrs. Mitchell, Beckwith, and Culley were elected nominees for the long ward without opposition. The other three wards were contested. After the elections for Wymer and the Northern wards, processions took place at night to celebrate the triumph of the two contending parties. August 2nd. A common hall was held for the purpose of getting up an address to be presented to Queen Caroline. Mr. Alderman Leman presided, and Mr. Sheriff Taylor introduced the subject, declaring that their duty was not merely to vote an address to Her Majesty on her accession, but to protest against the proceedings adopted by His Majesty’s ministers, against her “whom we ought to honour as our Queen, and esteem as a woman.” He denied the imputation that this meeting was held for factious and seditious purposes. He reviewed the various charges which had been brought against Her Majesty, and mentioned several instances of noble conduct on her part. He regarded the erasure of her name from the liturgy as a
- 75. gross insult, and spoke of the firmness, and sagacity, and judgment which characterised her determination to return to England. He reminded his hearers of the enthusiasm which attended her entry into London. But no sooner was she arrived than a large green bag was laid on the table. Now he had an instinctive horror of a green bag, as he had once the honour of occupying a small corner of one. He then challenged the ministers, through Mr. Coke, to prove any one of the charges brought against him in the green bag; and he received an answer that it was all a mistake, and that Norwich should not have been inserted. The resolutions were carried by acclamation, and he afterwards presented an address to the Queen at Brandenburgh house. There was but one opinion here as to the character of George IV., and with respect to the Queen, all the world agreed that she was much to be pitied. Men’s passions were so strongly excited, that whichever side they took, whether for her or against her, her conduct was viewed through a false medium. Nothing showed this more strongly than the behaviour of the two parties upon her death. The blue-and-whites, many of whom had never put on black for a royal personage before, were to be seen dressed in black and white, while on the other hand the orange-and-purples, not content with appearing in their ordinary attire, flaunted about in the gayest colours. December 12th. In consequence of the numerous robberies committed in the city and county, public meetings were held, and resolutions passed to grant high rewards to watchmen who might apprehend offenders. More burglaries had been committed in that year than in the preceding twenty years. Increased poverty had produced crime, and the “Old Charlies” were of little use. 1821. March 7th. E. T. Booth, Esq., (sheriff) was elected an alderman of Great Wymer ward in the room of the late William Foster, Esq., who had died on March 3rd. There was an opposition;
- 76. at the close of the poll the numbers were, for Mr. Booth 444, Mr. R. Shaw 433. March 31st. The freedom of the city having been voted at the quarterly assembly of the corporation on the 24th ult., to be presented to Captain William Edward Parry of the Royal Navy; that gallant officer attended in full uniform, and was sworn in at a full court of mayoralty. The parchment containing the freedom of the city was presented to him in a box formed of a piece of oak, part of the ship Hecla, with an appropriate inscription. April 9th, 10th, 11th, 12th. Cleansing Week ward elections took place. Conisford ward no opposition, Messrs. J. Kitton, J. Angel, and J. P. Cocksedge (nominees); Mancroft ward no opposition, Messrs. P. Chamberlin, J. Bennett, and J. Goodwin, (nominees); Wymer ward, Mr. A. A. H. Beckwith 432, Mr. J. Culley, 432, Mr. J. Reynolds 423 (nominees), Mr. J. Parkinson 254, Mr. Newin 249, Mr. R. Purland 236, Mr. S. Mitchell 45; Northern ward, Mr. T. Barnard 418, Mr. T. O. Springfield 416, Mr. S. S. Beare 416, (nominees), Mr. G. Morse 231, Mr. Troughton 230, Mr. T. Grimmer 231. May 1st. The election for mayor came on. At the close of the poll the numbers were for Alderman Rackham 986, Alderman Hawkes 950, Alderman Marsh 630, Alderman Yallop 631. The former two were returned to the court of aldermen, who elected William Rackham, Esq., to serve the office of chief magistrate. June 18th. This being Guild day, William Rackham, Esq., was sworn in mayor, on which occasion he gave a sumptuous dinner to about 650 ladies and gentlemen in St. Andrews Hall, the hall having previously undergone various alterations and improvements. July 27th. The coronation of George IV. was celebrated here in a very splendid manner, and gave occasion for a display of the exuberant loyalty of the citizens. This king, called “the finest gentleman in Europe,” had governed the realm for nearly ten years, and visited the city in 1812. His reign was peaceful and prosperous,
- 77. and he was a great promoter of the arts and sciences. The most important event of his reign was the passing of the act for Roman Catholic emancipation, by which Roman Catholics became entitled to all the rights and privileges enjoyed by the rest of the community, a measure strongly supported here by the liberal party. During this reign the citizens of Norwich took a very active part in all the great movements of the age—the Roman Catholic Emancipation movement, the Anti-Slavery movement, and the Reform agitation. Strong contests at elections took place on all these questions. Bribery, corruption, treating, cooping, and intimidation, were resorted to by both parties on every occasion, as will appear in a subsequent chapter, on our political history. Party spirit never ran higher in any town than in Norwich. 1822. January 24th. The anniversary of the birthday of the Rt. Hon. C. J. Fox was commemorated by a public dinner of the liberal party at the Assembly Rooms. February 24th. At a quarterly meeting of the corporation it was unanimously resolved, that a piece of plate, of the value of 150 guineas, be presented to Charles Harvey, Esq., the recorder of Norwich, as a testimony of the high appreciation entertained by that assembly of his upright and impartial conduct in the performance of the duties of his office, and of his zeal on all occasions for the interests of the city. March. When the elections came on in Cleansing Week, there was no opposition for the Conisford and Mancroft wards, and the orange- and-purple party maintained their ascendancy. Wymer ward, Mr. J. Reynolds 401, Mr. A. A. H. Beckwith 401, Mr. J. Culley 401, (nominees); P. Greenwood 56, W. Simmons 56, R. Widdows 54. Northern ward, Mr. A. Shaw 379, Mr. S. S. Beare 368, Mr. E. Taylor 200, (nominees); W. G. Edwards 189, A. Beloe 193, T. Grimmer 190, St. Quintin 190.
- 78. May 1st. The election of mayor came on. At the close of the poll the numbers were for Alderman Hawkes 957, Alderman J. S. Patteson 908, Alderman Thurtell 364, Alderman Yallop 318; the former two were returned to the court of aldermen, who elected Robert Hawkes, Esq., to serve the office of chief magistrate. June 18th. This being Guild day, Robert Hawkes, Esq., was sworn in as mayor, and he gave a grand dinner to the citizens in St. Andrew’s Hall. September 27th. The weavers, 2,361 in number, subscribed for, and presented a piece of plate to John Harvey, Esq., as a testimony of the high esteem in which they held him; and he deserved it, for he was a great promoter of the manufactures of the city, and a friend of the operatives. They were then in a prosperous state, and well employed by many large firms who executed orders for the East India Company to the extent of 20,000 pieces of camlets yearly. This trade continued till 1832. 1823. January 23rd. At a meeting held in the Old Library Room, St. Andrew’s Hall, a society was formed for supplying the poor with blankets at a reduced price; and upwards of 1100 were distributed during the winter. February 24th. At a quarterly assembly of the corporation a lease was granted to the magistrates of the city, for 500 years, of the piece of land outside of St. Giles’ Gates, on which it had been decided to build the new jail, at the annual rent of £50. March 4th. At a meeting held at the Guildhall, petitions to parliament were adopted against the Insolvent Debtors Act. March. Cleansing Week for the ward elections passed off without any opposition; the orange-and-purple party kept the Conisford, Mancroft, and Wymer wards, and the blue-and-white the Northern ward.
- 79. April 14th. At a special assembly of the corporation, a petition to His Majesty was adopted, praying for two jail deliveries in the course of the year. April 25th. At a meeting held at the Guildhall, to take into consideration the state of the West India Colonies, with a view to promote the abolition of slavery, resolutions in favour of the object were carried. May 1st. The election of mayor took place, and at the close of the poll the numbers were, Alderman J. S. Patteson 835, Alderman Francis 774, Alderman Leman 101, Alderman Yallop 94. The two former were returned to the court of aldermen, who elected J. S. Patteson, Esq., to serve the office of chief magistrate. May 3rd. At a quarterly assembly of the corporation, the freedom of the city was voted to the Hon. John Wodehouse, lieutenant of the city and county. June 17th. This being Guild day, J. S. Patteson, Esq., was sworn in mayor; and he gave a splendid dinner to a large party in St. Andrew’s Hall. 1824. In September of this year the first Norfolk and Norwich Musical Festival was held in St. Andrew’s Hall, and the concerts given were well attended by the nobility and gentry of the county. This Festival was very much promoted by Mr. Edward Taylor, Mr. R. M. Bacon, then editor of the Mercury, and other amateurs in the city, and proved eminently successful, the hospital receiving the sum of £2,399 out of the profits. In 1825, King George IV. presented the hospital with a copy of Arnold’s edition of Handel’s Works. It was determined that a triennial festival should be held in aid of the funds of the institution, and that the Norwich Choral Society should be maintained in an efficient state for that purpose.
- 80. CHAPTER XVI. Norwich Navigation. About this time a very important movement took place in the city, with the view to make “Norwich a port,” and many meetings were held to promote that object. Here, therefore, will be a proper place to review the proceedings in reference to our navigation to Yarmouth and Lowestoft. The history will show the grasping selfishness of the old corporation at Yarmouth, which always tried to tax the trade of the city, and opposed every improvement, even when it was for the benefit of both towns. Norwich, no doubt, derived its mercantile and carrying trade from its original situation as a sea-port. In ancient times the Gariensis Ostium, or mouth of the Yare, extended in breadth from Burgh Castle to Caister, the two Roman camps being opposite each other. The spot on which Yarmouth now stands was then covered by water, and a broad arm of the sea extended all over the present marshes to the city, which was then a sea-port, before Yarmouth had any existence. This appears from the legal contests that took place in later times between the burgesses of Yarmouth and the citizens of Norwich. Norwich had long been a mercantile and trading town, and one of the royal cities of England, and ships came up by an arm of the sea to an open market, which was held every day in the week. Public marts or fairs were held twice a year, with all manner of merchandise for sale to citizens, strangers, or foreigners. The traders for centuries used this right of buying and selling, loading and unloading all their goods and merchandise, free of all tolls and dues. Foreign merchants paid at Norwich 4d. on every ship of bulk, 2d. for every boat, and all other customs for their merchandise. At the commencement of the 14th century Yarmouth began to be a rival port to Norwich, and some legal contests took place between the two towns respecting their rights and privileges. In 1327, a suit
- 81. was commenced, and in 1331 it was renewed, between the citizens of Norwich and the burgesses of Yarmouth, relating to certain tolls which the latter imposed on goods, claiming the right to do so under the charter of Edward I., which made Yarmouth a port. Indeed, they appear to have been so incensed at the city becoming a staple that they proceeded so far as to stop all vessels coming through from their port to Norwich. A very remarkable contest consequently arose, and terminated in favour of the city. The result of the suit was, that the bailiffs of Yarmouth were commanded to make proclamation in their town, “That if any hindered or in any way molested the merchant vessels of what kind soever from passing and re-passing through the port of Yarmouth, to and from the city of Norwich, they should forfeit all their goods and chattels, forfeitable, for so doing.” Yarmouth was, therefore, prevented for a time from levying duties, but subsequently regained the power of doing so to a great extent. If Norwich in former ages was an important seaport, the question naturally arises how it ceased to be so. There is sufficient evidence that after the year 500, the arm of the sea became narrower, though at that period the water came up close to the Castle Hill. After 1050, the river was much reduced in breadth, and a new town arose round the fortress. Centuries elapsed and the river became still narrower, and streets were extended on each side. At length the stream became so shallow that it was no longer navigable for sea- borne vessels, and the ancient trade of the city began to decline. The citizens, occupied by political contests, did not keep up the navigation for sea-borne vessels, as they might easily have done. Attempts were made in this (19th) century to retrieve the long neglect of former ages by some schemes of improvement, but these attempts almost entirely failed. Still the city owed many trading advantages to its river, which is navigable for wherries and packets to the sea. The navigation between Norwich and Yarmouth has not been, for centuries, suited for sea-borne vessels, owing, chiefly, to the
- 82. shallowness of the channel over Breydon. The embouchure of the river into the sea has been frequently blocked up by shifting sands, and vessels have been detained fourteen days before they could get into the river. Indeed, at the present time there is great danger of the mouth of the harbour being blocked up at Yarmouth altogether. Prior to the year 1762, the quantity of coals brought from Yarmouth to Norwich, annually, was 26,000 chaldrons. Of these, nearly 5000 chaldrons were carried out of Norwich into the surrounding district, so that 21,000 chaldrons were consumed in the city. At that time, the king’s dues and the Yarmouth dues amounted to 8s. 1d. per chaldron, which was felt by the consumers to be a grievous tax. A cheap and plentiful supply of coal has always been of the utmost importance to the citizens, not only for domestic purposes, but also as fuel for manufacturers, dyers, hot pressers, lime burners, brewers, and maltsters. Yet, at the period referred to, this necessary commodity was heavily taxed, to the extent of £1200 yearly, more than was paid on an equal consumption in London. This tax was rendered more grievous by the illegal measurement at Yarmouth. The legal chaldron consisted of thirty-six bushels; but, at Yarmouth the chaldron was estimated not by bushels, but by a measure called a mett, sixteen of which were computed to contain a chaldron, but did not. As may be supposed, the injustice naturally caused considerable dissatisfaction among the Norwich coal merchants and other citizens, and frequent complaints were made of the grievance which was ultimately abolished. This was important, for formerly, from the north of England, immense quantities of coal and heavy goods were brought by sea, viâ Yarmouth to Norwich, for distribution over the eastern side of Norfolk and Suffolk. The importation of coal, by this route, has, however, been greatly diminished; not only by the opening of railways in every direction, but also by the working of the central coal fields of England. By the act of the 12th George I., c. 15, commonly called the Tonnage Act, the corporation obtained the power to levy tolls on all goods brought into the city by any boat, keel wherry, lighter, buoy,
- 83. or other vessel as follows:—4d. for every chaldron of coals, for every last of wheat, rye, barley, malt, or other grain, for every weight of salt, for every hogshead of sugar, tobacco, molasses, or hogshead packed with other goods, for every three puncheons of liquor, for every two pipes of wine, spirits, c., for every eight barrels of soap, raisins, oil, pitch, tar, c. For five years prior to May, 1836, the average amount of revenue derived from the tonnage dues was £970, showing that a very large quantity of goods was brought by river to the city. After June 24th, 1836, the tolls were let by auction for £1375; in 1838, for £1210; in 1840, for £1220; in 1847, for £1000; in 1850, for £1050 yearly. This shows that after the opening of railways the dues were reduced, but not so much as might have been expected; the wherries continued to bring in a large proportion of the heavy goods. The project of opening a communication between Norwich and the sea, for sea-borne vessels, originated with Alderman Crisp Brown, who in 1814, submitted to the corporation a plan for making Norwich a port by way of Yarmouth. After this, surveys were made, and a report was published in 1818, by Mr. Cubitt, who recommended avoiding Breydon by a new cut on the south side. In the same year he made another survey, to ascertain the practicability of opening a communication with the sea at Lowestoft, and in 1821 this report was laid before the public. As the Yarmouth corporation had signified their determination to oppose either of these plans, it was at length determined to carry out the communication to Lowestoft, although the expense was double that of the Yarmouth plan. This turned out to be a very unfortunate undertaking. Subscriptions were raised and fresh surveys were made; and in 1826, a company having been formed, an application was made to Parliament for an Act; but being opposed by the Yarmouth corporation and timid owners of the marsh lands, who were fearful of an inundation, it was lost by a majority of five. This act, however, was finally passed in 1827, after £8000 had been spent by the corporation of Yarmouth in opposing it. Of course, the object
- 84. of that body was to retain the monopoly of the Norwich trade, which was then very great. On May 23rd, 1827, the bill for making Norwich a port having been passed through both houses of Parliament, the navigation committee, with the mayor (their chairman), were met at Hartford Hill, on their return from London, by thousands of their fellow- citizens who were assembled to welcome them; and a grand procession having been formed, they marched through the city, while guns were fired in all directions. The celebration concluded with a bonfire at night. In effecting the great undertaking of a communication with Lowestoft, the river Yare was deepened near Norwich and the navigation was continued by that river as far as Reedham, whence it was carried across the marshes by a new cut, two miles and a-half long, to the river Waveney, along which it passed to Oulton Dyke, which was widened and deepened to Oulton Broad, whence by a short cut the canal entered Lake Lothing, through which it passed to the shore at Lowestoft, where, by cutting through the bank, the tides were freely admitted into the lake. Here a large harbour was formed, covering 160 acres, nearly three miles in length, and averaging from fifteen to seventeen feet in depth at high water. In this work the company spent their whole capital of £150,000. On September 30th, 1833, the Norwich and Lowestoft navigation was opened, when two vessels came from the latter place and arrived at the wharfs without once touching ground. This caused great rejoicing, and the advantages of the undertaking were soon apparent. But the company wanted money, and were obliged to borrow it from the Exchequer Loan Commissioners, into whose hands the port fell in 1842. Norwich traders might afterwards have recovered possession of the port for a small sum by a combined effort, but they lost the opportunity. The commissioners disposed of the port and navigation to a new company at Lowestoft, and that company, after expending large sums in repairs, sold the harbour and navigation to Mr. Peto for almost a nominal price. He, with
- 85. other gentlemen, organised another company, raised a capital of £200,000 (afterwards doubled), and obtained an act of parliament for the formation of a new harbour, and a railway to Reedham in connection with the line to Norwich. The new harbour was made, and the railway was opened in 1847, from which year the carrying trade of the port gradually increased. Before 1850 the importation of coal and the harbour dues increased five-fold, and the importations of corn increased 10,000 quarters yearly. The number of vessels was doubled, and of course employment increased in proportion. The harbour and railway contributed a large traffic to the Eastern Counties lines. Norwich traders made great use of the port, and through it brought quantities of coal and heavy goods to the city. There is every mechanical facility afforded for the loading and unloading of vessels; and port dues are lower than at Yarmouth. In 1851, the number of vessels that entered the harbour was 1,636, or 131,767 tons, showing an increase of 23,000 tons. In the same year there was an increase of 6,997 tons in the coal imported. Of course, as the shipping trade of the port increased, the railway traffic increased also. One of the chief sources from which the additional revenue was derived was from the fish traffic; for in 1851 the packages were 78,000 in number, and produced a freight of £3,739. The traffic also in coal and goods has greatly improved. Between 1840 and 1850 the corporation of Norwich, aided by the city merchants, made a most determined effort to improve the navigation to Yarmouth. A large subscription was raised for this purpose, and Mr. Cockburn Curtiss, the engineer, was engaged to make a survey of the river Yare, and to prepare plans. He did so, and his plans were approved by the citizens generally; but the corporation of Yarmouth gave notice of a strong opposition. Application was made to parliament for a bill giving the corporation here jurisdiction over the river down to the mouth of the Haven. The bill was opposed and lost, and the Norwich corporation were defeated after an expenditure of some thousands of pounds.
- 86. CHAPTER XVII. Leading Events (continued). We resume our chronological list of the leading events of the century:— 1825. January 5th. At a public meeting held at the Guildhall, a Mechanics’ Institution was established, and it was continued for some years in the rooms above the Bazaar, St. Andrew’s. March. Cleansing week passed off without opposition for the second time. April 7th. The clergy of the archdeaconry of Norwich agreed to petition in favour of the claims of the Catholics to have the same political rights and privileges as other people. April 18th. At a public meeting, held in St. Andrew’s Hall, a petition for a revision of the Corn Laws was adopted unanimously. The petition afterwards received 14,385 signatures, and was forwarded on the 26th to be presented to parliament. As yet it was not proposed to repeal the Corn Laws, which were then a monstrous injustice. May 1st. The election for mayor took place, and the numbers were for Alderman Day, 679; Alderman Booth, 597; Alderman Leman, 152; Alderman Burt, 150. Thomas Starling Day, Esq., was elected. May 3rd. The corporation adopted a petition against the Catholic claims, the members going quite out of their way to perpetuate a great wrong. May 31st. The anniversary of the birthday of the Rt. Hon. William Pitt was celebrated by the members of the castle corporation. June 11th. The first stone of the new theatre was laid, and it was erected on the present site. The building is only a piece of patch-
- 87. work, and has no pretensions to architectural design. It is no credit to the city in any respect. It was opened on March 27th, in the following year. June 21st. The mayor (T. S. Day, Esq.,) was sworn into office; he afterwards gave a dinner to upwards of 460 gentlemen in St. Andrew’s Hall. August 30th. A contest took place for freemen’s sheriff; at the close of the poll the numbers were for Mr. Brookes, 865; Alderman Springfield, 501. The former was returned. September 1st. The corporation presented a piece of plate, of the value of 100 guineas, to William Simpson, Esq., chamberlain, in testimony of their high esteem for the ability and integrity displayed in the discharge of his official duties; and of their unanimous approbation of his long and faithful services. November 2nd. Sir Thomas P. Hankin, Lieut. Colonel of His Majesty regiment of Royal North British Dragoons, was interred in the Cathedral with military honours. November 21st. At a public meeting, held in St. Andrews Hall, a Society was formed for promoting the Abolition of Colonial Slavery. The late J. J. Gurney and all his family were great advocates of negro emancipation, but the diabolical injustice of slavery continued for many years to be the disgrace of England. At many meetings held in this city, the late J. J. Gurney denounced the atrocities of the slave trade, and advocated its abolition. This object was at last accomplished after a violent agitation throughout the country, at a cost of twenty millions sterling! 1826. January. This year, in consequence of the iniquitous corn laws, bread was dear, work was scarce, and the poor were destitute. Nearly £5000 was subscribed for their relief.
- 88. March. Cleansing Week ward elections passed off without opposition, except in the Wymer ward, where it was merely nominal. May 1st. The election of mayor took place. Messrs. Booth and Patteson were returned to the court of aldermen without opposition, and Mr. E. T. Booth was elected. May 30th. The anniversary of Mr. William Pitt’s birthday was again celebrated by the members of the castle corporation. The dinners of this and other clubs served to keep alive party spirit. June 20th. This being Guild day, E. T. Booth, Esq., was sworn into the office of chief magistrate; after which, the Rt. Hon. Robert Peel, secretary of state for the Home department, and Jonathan Peel, Esq., the new member of parliament for the city, were admitted to the freedom of the city. August 29th. A contest took place for the office of freemen’s sheriff. At the close of the poll the numbers were for Mr. James Bennett, 1164; Mr. Alderman Springfield, 1079. The former was returned. November. Parish meetings were held in many parts of the city, and votes of thanks were passed to Crisp Brown, Esq., for his strenuous exertions in preventing impositions in paying public money for the new jail, then considered a job. November 21st. William Simpson, Esq., was elected town clerk and clerk of the peace for this city, in the room of the late Elisha De Hague, Esq., who died on the 11th inst., at the age of 72. December 6th. Robert Alderson, Esq., was unanimously elected recorder of the city, on the resignation of Charles Savill Onley, Esq., and on the 12th, Isaac Preston, Esq., was elected steward of the corporation, vacant by the resignation of Mr. Alderson.
- 89. 1827. January 7th. On the intelligence being received here of the death of his late Royal Highness, Duke of York and Albany, the bells of the different churches were tolled for some time, and the shops were partially closed on the following days. January 20th. This being the day appointed for the funeral of his late Royal Highness the Duke of York, the melancholy occasion was observed by a general suspension of business; the corporation attended divine service at the Cathedral, and the bells of the parish churches were tolled. January 26th. At a meeting of the clergy, a petition was adopted in favour of the Catholic claims. April. Cleansing Week ward elections came on with several severe contests. Conisford ward, J. Marshall, 213; T. Edwards, 212; J. Kitton, 205 (nominees); J. Angell, 204; A. B. Beevor, 203; J. P. Cocksedge, 202. Mancroft ward, no opposition, J. Goodwin, T. Eaton, C. Hardy (nominees). Wymer ward, W. Foster, 435; J. S. Parkinson, 434; G. Kitton, 429 (nominees). Northern ward, S. S. Beare, 424; R. Shaw, 415; H. Martineau, 420 (nominees); G. Coleby, 237; T. Grimmer, 244. May 1st. The election of mayor took place; at the close of the poll the numbers were, Alderman Finch, 918; Alderman Yallop, 867; Alderman Patteson, 566; Alderman Browne, 565. Peter Finch, Esq., was elected. He lived for many years in a large house built of flint in St. Mary’s. June 19th. This being Guild day, Peter Finch, Esq., was sworn into the office of chief magistrate. August 28th. The election for freemen’s sheriff came on; at the close of the poll the numbers were for Mr. Alderman Springfield, 1210; Mr. F. White, 474. The former was returned. September 12th. There was a severe contest for the office of alderman of Conisford ward in the room of the late William Herring,
- 90. Esq., who died on the 8th, aged 74. At the close of the poll the numbers were for J. Angell, 218; J. Marshall, 196; and the former was returned. A scrutiny was demanded by Mr. Marshall’s friends, but was afterwards abandoned. This month Mr. Myher Levi, a Jew, and his wife Hannah Levi, a Jewess, having been converted, were baptised in the parish church of St. Stephen’s, and received the name of Herbert. 1828. January 10th. The members of the castle corporation celebrated their sixty-third anniversary. March. Cleansing Week elections. Conisford ward, J. Marshall, 240; T. Edwards, 240; A. B. Beevor, 239, (nominees); J. Skipper, 225; S. W. Mealing, 226; R. Merry, 225. No opposition in the other wards, but for Mancroft ward, J. Bennett, A. Beloe, and C. Hardy (nominees); and for the Northern ward, S. S. Beare, R. Shaw, and H. Martineau (nominees). May 1st. A contest for mayor, which lasted two days; at the close of the poll the numbers were for Alderman Yallop, 1212; Alderman Thurtell, 1210; Alderman Angell, 1097; Alderman Patteson, 1020. The two former were returned to the court of aldermen, who elected T. Thurtell, Esq. May 5th. At a public meeting held at the Guildhall, resolutions were passed and a petition to parliament was adopted for the immediate alleviation and ultimate extinction of slavery in the West India colonies. The petition afterwards received the signatures of 10,125 persons, and was 150 feet in length. June 12th. The anniversary of the birthday of the late Rt. Hon. William Pitt was commemorated by a dinner of the Tories at the Assembly Rooms. About 160 gentlemen were present. In August, the new Exchange Street was opened, and on October 11th, a new Corn Hall was opened to the public.
- 91. Welcome to our website – the perfect destination for book lovers and knowledge seekers. We believe that every book holds a new world, offering opportunities for learning, discovery, and personal growth. That’s why we are dedicated to bringing you a diverse collection of books, ranging from classic literature and specialized publications to self-development guides and children's books. More than just a book-buying platform, we strive to be a bridge connecting you with timeless cultural and intellectual values. With an elegant, user-friendly interface and a smart search system, you can quickly find the books that best suit your interests. Additionally, our special promotions and home delivery services help you save time and fully enjoy the joy of reading. Join us on a journey of knowledge exploration, passion nurturing, and personal growth every day! ebookbell.com