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...

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Main Authors:	Ahmed Mounis, Shawgi Younis, Zainul Azlan, Norsinnira, Fatai, Sado
Format:	Conference or Workshop Item
Language:	English English
Published:	Institute of Electrical and Electronics Engineers Inc. 2018
Subjects:	RC Internal medicine T Technology (General)
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

id	iium-67302
recordtype	eprints
spelling	iium-673022018-11-01T04:18:56Z http://irep.iium.edu.my/67302/ Progress based assist-as-needed control strategy for upper-limb rehabilitation Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Fatai, Sado RC Internal medicine T Technology (General) 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. Institute of Electrical and Electronics Engineers Inc. 2018-03-09 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/67302/1/67302_Progress%20based%20assist-as-needed%20control%20strategy_complete.pdf application/pdf en http://irep.iium.edu.my/67302/2/67302_Progress%20based%20assist-as-needed%20control%20strategy_scopus.pdf Ahmed Mounis, Shawgi Younis and Zainul Azlan, Norsinnira and Fatai, Sado (2018) Progress based assist-as-needed control strategy for upper-limb rehabilitation. In: 2017 IEEE Conference on Systems, Process and Control, ICSPC 2017, 15 - 16 December 2017, Hatten Square Melaka. https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8313023 10.1109/SPC.2017.8313023
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	RC Internal medicine T Technology (General)
spellingShingle	RC Internal medicine T Technology (General) Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Fatai, Sado Progress based assist-as-needed control strategy for upper-limb rehabilitation
description	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.
format	Conference or Workshop Item
author	Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Fatai, Sado
author_facet	Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Fatai, Sado
author_sort	Ahmed Mounis, Shawgi Younis
title	Progress based assist-as-needed control strategy for upper-limb rehabilitation
title_short	Progress based assist-as-needed control strategy for upper-limb rehabilitation
title_full	Progress based assist-as-needed control strategy for upper-limb rehabilitation
title_fullStr	Progress based assist-as-needed control strategy for upper-limb rehabilitation
title_full_unstemmed	Progress based assist-as-needed control strategy for upper-limb rehabilitation
title_sort	progress based assist-as-needed control strategy for upper-limb rehabilitation
publisher	Institute of Electrical and Electronics Engineers Inc.
publishDate	2018
url	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
first_indexed	2023-09-18T21:35:34Z
last_indexed	2023-09-18T21:35:34Z
_version_	1777412797672456192

Progress based assist-as-needed control strategy for upper-limb rehabilitation

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