Progress based assist-as-needed control strategy for upper-limb rehabilitation
Assist-as-Needed (AAN) strategy is one strategy of administering robotic assistance which has gained wide acceptance in recent time and has been clinically demonstrated to provoke motor recovery in neurologically impaired patients. The underlying principle in this scheme is to provide assistance...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2018
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/67302/ http://irep.iium.edu.my/67302/ http://irep.iium.edu.my/67302/ http://irep.iium.edu.my/67302/1/67302_Progress%20based%20assist-as-needed%20control%20strategy_complete.pdf http://irep.iium.edu.my/67302/2/67302_Progress%20based%20assist-as-needed%20control%20strategy_scopus.pdf |
| Summary: | Assist-as-Needed (AAN) strategy is one strategy of
administering robotic assistance which has gained wide
acceptance in recent time and has been clinically demonstrated to
provoke motor recovery in neurologically impaired patients. The
underlying principle in this scheme is to provide assistance to a
patient to complete desired movement only when the patient is in
need of that assistance, which invariably encourages patient’s
active participation to provoke neuroplasticity. Effective
deployment of this scheme in robot aided therapy still pose some
challenges. One current difficulty is finding an appropriate
method of estimating patients’ functional input, or movement
ability, by means on which the robot judges whether to assist or
to relax the assistance. Another concern is the repeatability or
consistency of the estimated subject’s movement ability across a
wide range of subjects with different disability level that can
warrant a broad clinical adoption. Also, generally overlooked is
the influence of subject’s recovery progress on the modality of
the AAN assistance. In this study, we propose a progress-based
assist-as-needed algorithm (pAAN) which rely on subject’s realtime
functional ability record to drive robotic assistance. We
define a novel functional ability index (FAI) on a baseline
adaptive inertia related controller which decays the robotic
torque assistance according to patients’ progress or active
participation during therapy session. Simulation studies carried
out for the task of lifting a can from table to the mouth, designed
in accordance with the Wolf motor function test (WMFT), have
demonstrated the feasibility of the pAAN strategy. |
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