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Interactive robot assistance for upper-limb training

chapter
posted on 2023-06-09, 12:44 authored by Etienne Burdet, Yanan LiYanan Li, Simone Kager, Karen Chua Sui Geok, Asif Hussain, Domenico Campolo
This chapter presents a systematic interaction control framework for robot-assisted training in neurologically impaired individuals. The human-robot relationship is considered as the interaction of two agents with respective control described by a cost function, which enables us to express and implement various interaction strategies. Implementation of this method for training arm reaching in chronic stroke survivors exhibits smooth motion guidance, neither disrupting movement nor preventing the inter-trials variability critical to learning. The human-robot interaction is further analyzed by using differential game theory with an algorithm to identify the human user’s behavior, providing stable, reactive and adaptive movement assistance demonstrated in simulations

History

Publication status

  • Published

Publisher

Elsevier

Page range

137-147

Book title

Rehabilitation Robotics

ISBN

9780128119952

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Editors

Roberto Colombo, Vittorio Sanguineti

Legacy Posted Date

2018-04-05

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