NDLI: Optimizing Compliant, Model-Based Robotic Assistance to Promote Neurorehabilitation

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Table of contents

Issue 2

Issue 1

Year : 2007 Volume : 15

Year : 2006 Volume : 14

Year : 2005 Volume : 13

Year : 2004 Volume : 12

Year : 2003 Volume : 11

Year : 2002 Volume : 10

Year : 2001 Volume : 9

Optimizing Compliant, Model-Based Robotic Assistance to Promote Neurorehabilitation

Content Provider	IEEE Xplore Digital Library
Author	Wolbrecht, E.T. Chan, V. Reinkensmeyer, D.J. Bobrow, J.E.
Copyright Year	2001
Abstract	Based on evidence from recent experiments in motor learning and neurorehabilitation, we hypothesize that three desirable features for a controller for robot-aided movement training following stroke are high mechanical compliance, the ability to assist patients in completing desired movements, and the ability to provide only the minimum assistance necessary. This paper presents a novel controller that successfully exhibits these characteristics. The controller uses a standard model-based, adaptive control approach in order to learn the patient's abilities and assist in completing movements while remaining compliant. Assistance-as-needed is achieved by adding a novel force reducing term to the adaptive control law, which decays the force output from the robot when errors in task execution are small. Several tests are presented using the upper extremity robotic therapy device named Pneu-WREX to evaluate the performance of the adaptive, ldquoassist-as-neededrdquo controller with people who have suffered a stroke. The results of these experiments illustrate the ldquoslackingrdquo behavior of human motor control: given the opportunity, the human patient will reduce his or her output, letting the robotic device do the work for it. The experiments also demonstrate how including the ldquoassist-as-neededrdquo modification in the controller increases participation from the motor system.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	12
File Size	1015523
Starting Page	286
Ending Page	297
File Format	PDF
ISSN	15344320
Volume Number	16
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Humans Robot control Error correction Testing Extremities Medical treatment Programmable control Motor drives Control systems rehabilitation robotics Assist-as-needed motor control nonlinear adaptive control assist-as-needed
Content Type	Text
Resource Type	Article
Subject	Neuroscience Rehabilitation Internal Medicine Biomedical Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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