Kilian Baur


Last Name

Baur

First Name

Kilian

ORCID

0000-0002-3106-3050

Organisational unit

06170 - Student Project House / Student Project House

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2010 - 2019232020 - 20264
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Publications1 - 10 of 27
  • Guidance in the nullspace reduces task difficulty in robot-assisted coordination training
    Item type: Conference Paper
    Waeber, Andreas; Gerig, Nicolas; Baur, Kilian; et al. (2015)
    Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2015)
  • Performance-based viscous force field adaptation in upper limb strength training for stroke patients
    Item type: Conference Paper
    Baur, Kilian; Klamroth-Marganska, Verena; Giorgetti, Chiara; et al. (2016)
    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
    Muscle weakness is one of the major deficits after stroke but specific strength training is seldom included in robot-assisted rehabilitation. At the same time, the emergence of robotic devices for stroke therapy offers technical possibilities for strength training. We propose a control strategy for strength training that is based on a viscous force field shaped towards the patient's performance abilities at different positions and directions during a movement. The controller was implemented in the arm rehabilitation robot ARMin in combination with a one-degree-of-freedom repetitive tracking task. The viscous force field is adapted in each round as a function of the local performance profile (shape) and the performance sum of each round (task level). The patient gets feedback by visual representation of the tracking task displaying the position of the moving target object and the position of the patient cursor. We hypothesize that the performance-shaped task level of the viscous force field demands the maximum effort of the participant at each point of the trajectory. Furthermore, we hypothesize that the participants are more motivated by this controller for strength training than by controllers using a constant task level. The controller was tested in a feasibility study with 31 healthy subjects. The resulting individual task level of the viscous force field increased compared to the initial state but did not reach a steady state by (visual inspection). No differences in motivation compared to a controller using a constant viscous force field were identified. We propose the framework of differentiation in shape and task level of a viscous force field for difficulty adaptation in future rehabilitation games.
  • Robot-assisted human motor learning in sports
    Item type: Conference Paper
    Rauter, Georg; Sigrist, Roland; Baur, Kilian; et al. (2011)
    UMIT - Lecture notes in biomedical computer science and mechatronics ~ Proceedings of the Austrian Robotics Workshop : May 2011, Hall in Tyrol
  • Missing depth cues in virtual reality limit performance and quality of three dimensional reaching movements
    Item type: Journal Article
    Gerig, Nicolas; Mayo, Johnathan; Baur, Kilian; et al. (2018)
    PLoS ONE
  • Missing Depth Cues in Virtual Reality Decrease Performance of Three-Dimensional Reaching Movements
    Item type: Conference Paper
    Gerig, Nicolas; Mayo, Johnathan; Baur, Kilian; et al. (2017)
    Advances in Intelligent Systems and Computing ~ Proceedings of the 11th International Symposium on Computer Science in Sport (IACSS 2017)
  • Making neurorehabilitation fun: A framework for multiplayer training that accounts for differences in skill level
    Item type: Other Conference Item
    Baur, Kilian; Duarte, Jaime E.; Wolf, Peter (2017)
    Schriften der Deutschen Vereinigung für Sportwissenschaft ~ Cogito, Ergo Commevoe - Multitasking im Sport. Abstractband zur 15. Jahrestagung der dvs-Sektion Sportmotorik vom 8.-10. März 2017 in Augsburg
  • Interactive robots for health in Europe: Technology readiness and adoption potential
    Item type: Journal Article
    Östlund, Britt; Malvezzi, Monica; Frennert, Susanne; et al. (2023)
    Frontiers in Public Health
    IntroductionSocial robots are accompanied by high expectations of what they can bring to society and in the healthcare sector. So far, promising assumptions have been presented about how and where social robots are most relevant. We know that the industry has used robots for a long time, but what about social uptake outside industry, specifically, in the healthcare sector? This study discusses what trends are discernible, to better understand the gap between technology readiness and adoption of interactive robots in the welfare and health sectors in Europe. MethodsAn assessment of interactive robot applications at the upper levels of the Technology Readiness Level scale is combined with an assessment of adoption potential based on Rogers' theory of diffusion of innovation. Most robot solutions are dedicated to individual rehabilitation or frailty and stress. Fewer solutions are developed for managing welfare services or public healthcare. ResultsThe results show that while robots are ready from the technological point of view, most of the applications had a low score for demand according to the stakeholders. DiscussionTo enhance social uptake, a more initiated discussion, and more studies on the connections between technology readiness and adoption and use are suggested. Applications being available to users does not mean they have an advantage over previous solutions. Acceptance of robots is also heavily dependent on the impact of regulations as part of the welfare and healthcare sectors in Europe.
  • Trends in robot-assisted and virtual reality-assisted neuromuscular therapy: a systematic review of health-related multiplayer games
    Item type: Review Article
    Baur, Kilian; Schättin, Alexandra; de Bruin, Eling; et al. (2018)
    Journal of NeuroEngineering and Rehabilitation
    Background Multiplayer games have emerged as a promising approach to increase the motivation of patients involved in rehabilitation therapy. In this systematic review, we evaluated recent publications in health-related multiplayer games that involved patients with cognitive and/or motor impairments. The aim was to investigate the effect of multiplayer gaming on game experience and game performance in healthy and non-healthy populations in comparison to individual game play. We further discuss the publications within the context of the theory of flow and the challenge point framework. Methods A systematic search was conducted through EMBASE, Medline, PubMed, Cochrane, CINAHL and PsycINFO. The search was complemented by recent publications in robot-assisted multiplayer neurorehabilitation. The search was restricted to robot-assisted or virtual reality-based training. Results Thirteen articles met the inclusion criteria. Multiplayer modes used in health-related multiplayer games were: competitive, collaborative and co-active multiplayer modes. Multiplayer modes positively affected game experience in nine studies and game performance in six studies. Two articles reported increased game performance in single-player mode when compared to multiplayer mode. Conclusions The multiplayer modes of training reviewed improved game experience and game performance compared to single-player modes. However, the methods reviewed were quite heterogeneous and not exhaustive. One important take-away is that adaptation of the game conditions can individualize the difficulty of a game to a player’s skill level in competitive multiplayer games. Robotic assistance and virtual reality can enhance individualization by, for example, adapting the haptic conditions, e.g. by increasing haptic support or by providing haptic resistance. The flow theory and the challenge point framework support these results and are used in this review to frame the idea of adapting players’ game conditions.
  • The CYBATHLON - Bionic Olympics to Benchmark Assistive Technologies
    Item type: Conference Paper
    Baur, Kilian; Haufe, Florian; Sigrist, Roland; et al. (2020)
    Biosystems & Biorobotics ~ Inclusive Robotics for a Better Society. INBOTS 2018
    Assistive robotic technology will only fulfill its potential if devices are accepted and regularly used by people with physical disabilities in their everyday life. The Cybathlon is a unique championship in which people with physical disabilities compete against each other to complete everyday tasks using latest robotic technology. The competition herewith offers a platform to drive forward research and challenge the usability of assistive robots. Furthermore, it helps to promote inclusion by informing about chances and limitations of assistive technology and stimulating dialogue. The first Cybathlon competition organized by the ETH Zurich was successfully launched in 2016. Sixtysix pilots from 25 nations competed in a sold-out stadium (4600 spectators). Six disciplines were part of the competition comprising races with brain-computer interfaces (BCI), functional electrical stimulation driven bikes (FES), powered arm prostheses, powered leg prostheses, powered exoskeletons and powered wheelchairs. The event had an international outreach and promoted new developmental and research work of the participating and even non-participating teams on all continents. As such, the Cybathlon may serve as an example event for other fields targeting inclusive robotics for a better society.
  • The “Beam-Me-In Strategy” – remote haptic therapist-patient interaction with two exoskeletons for stroke therapy
    Item type: Journal Article
    Baur, Kilian; Rohrbach, Nina; Hermsdörfer, Joachim; et al. (2019)
    Journal of NeuroEngineering and Rehabilitation
    Background We present a robot-assisted telerehabilitation system that allows for haptic interaction between therapist and patient over distance. It consists of two arm therapy robots. Attached to one robot the therapists can feel on their own arm the limitations of the patient’s arm which is attached to the other robot. Due to the exoskeleton structure of the robot, movements can be performed in the three-dimensional space. Methods Fifteen physical and occupational therapists tested this strategy, named “Beam-Me-In”, while using an exoskeleton robot connected to a second exoskeleton robot in the same room used by the study experimenter. Furthermore, the therapists assessed the level of impairment of recorded and simulated arm movements. They quantified four typical impairments of stroke patients: reduced range of motion (active and passive), resistance to passive movement, a lack of ability to fractionate a movement, and disturbed quality of movement. Results On a Likert Scale (0 to 5 points) therapists rated the “Beam-Me-In” strategy as a very useful medium (mode: 4 points) to evaluate a patient’s progress over time. The passive range of motion of the elbow joint was assessed with a mean absolute error of 4.9∘ (absolute precision error: 6.4∘). The active range of motion of the elbow was assessed with a mean absolute error of 4.9∘ (absolute precision error: 6.5∘). The resistance to passive movement (i.e. modified Tardieu Scale) and the lack of ability to fractionate a movement (i.e. quantification of pathological muscle synergies) was assessed with an inter-rater reliability of 0.930 and 0.948, respectively. Conclusions The “Beam-Me-In” strategy is a promising approach to complement robot-assisted movement training. It can serve as a platform to assess and identify abnormal movement patterns in patients. This is the first application of remote three-dimensional haptic assessmen t applied to telerehabilitation. Furthermore, the “Beam-Me-In” strategy has a potential to overcome barriers for therapists regarding robot-assisted telerehabilitation.
Publications1 - 10 of 27