NDLI: Intention detection in upper limb kinematics rehabilitation using a GP-based control strategy

Content Provider	IEEE Xplore Digital Library
Author	Yongzhuo Gao Yanyu Su Wei Dong Zhijiang Du Yan Wu
Copyright Year	2015
Description	Author affiliation: A*STAR Inst. for Infocomm Res., Singapore, Singapore (Yan Wu) \|\| State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China (Yongzhuo Gao; Yanyu Su; Wei Dong; Zhijiang Du)
Abstract	In robot-assisted upper limb rehabilitation, detecting the intentions of hemiplegic patients is essential towards assisting the patients to actively exercise instead of driving passive motions. Many interactive channels, such as voice, EMG and EEG, have been studied to estimate the motion intentions. However, limitations of these techniques, such as high complexity, have constrained their applications in practice. In this paper, we integrate a virtual environment and a low-cost motion sensor into a novel control strategy to detect motion intentions for a rehabilitation robot. Several bimanual motion sequences are intuitively programmed by a professional therapist for subjects to repeat. The strategy uses the unaffected arm and the programmed motion sequence to estimate the motion intentions of the affected arm. We adopt this strategy in Mirror Therapy, a widely-practised therapeutic intervention method. Experiments have been conducted to validate the control strategy.
Starting Page	5032
Ending Page	5038
File Size	4121101
Page Count	7
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7354085
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Skeleton Kinematics Robot sensing systems Virtual environments Training Mirrors
Content Type	Text
Resource Type	Article

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