Interactive robot assistance for upper-limb training

Burdet, Etienne, Li, Yanan, Kager, Simone, Geok, Karen Chua Sui, Hussain, Asif and Campolo, Domenico (2018) Interactive robot assistance for upper-limb training. In: Colombo, Roberto and Sanguineti, Vittorio (eds.) Rehabilitation Robotics. Elsevier, pp. 137-147. ISBN 9780128119952

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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

Item Type: Book Section
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Yanan Li
Date Deposited: 05 Apr 2018 14:15
Last Modified: 05 Apr 2018 14:15

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