Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability

The assist-as-needed technique in robotic rehabilitation is a popular technique that encourages patients’ active participation to promote motor recovery. It has been proven beneficial for patients with functional motor disability. However, its application in robotic therapy has been hindered by a po...

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Main Authors:	Ahmed Mounis, Shawgi Younis, Zainul Azlan, Norsinnira, Sado, Fatai
Format:	Article
Language:	English English English
Published:	SAGE Publications Ltd 2019
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/79065/ http://irep.iium.edu.my/79065/ http://irep.iium.edu.my/79065/ http://irep.iium.edu.my/79065/1/79065_Assist-as-needed%20control%20strategy.pdf http://irep.iium.edu.my/79065/2/79065_Assist-as-needed%20control%20strategy_SCOPUS.pdf http://irep.iium.edu.my/79065/13/79065_Assist-as-needed%20control%20strategy%20for%20upper-limb%20_wos.pdf

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spelling	iium-790652020-02-28T07:24:42Z http://irep.iium.edu.my/79065/ Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Sado, Fatai TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) The assist-as-needed technique in robotic rehabilitation is a popular technique that encourages patients’ active participation to promote motor recovery. It has been proven beneficial for patients with functional motor disability. However, its application in robotic therapy has been hindered by a poor estimation method of subjects’ functional or movement ability which is required for setting the appropriate robotic assistance. Moreover, there is also the need for consistency and repeatability of the functional ability estimation in line with the clinical procedure to facilitate a wider clinical adoption. In this study, we propose a new technique of estimation of subject’s functional ability based on the Wolf Motor Function Test. We called this estimation the functional ability index. The functional ability index enables the modulation of robotic assistance and gives a more consistent indication of subjects’ upper-limb movement ability during therapy session. Our baseline controller is an adaptive inertia-related controller, which is integrated with the functional ability index algorithm to provide movement assistance as when needed. Experimental studies are conducted on three hemiplegic patients with different levels of upper-limb impairments. Each patient is requested to perform reaching task of lifting a can from table-to-mouth according to the guidelines stipulated in the Wolf Motor Function Test. Data were collected using two inertial measurement unit sensors installed at the flexion/extension joints, and the functional ability score of each patient was rated by an experienced therapist. Results showed that the proposed functional ability index algorithm can estimate patients’ functional ability level consistently with clinical procedure and can modify generated robotic assistance in accordance with patients’ functional movement ability. SAGE Publications Ltd 2019-11-01 Article PeerReviewed application/pdf en http://irep.iium.edu.my/79065/1/79065_Assist-as-needed%20control%20strategy.pdf application/pdf en http://irep.iium.edu.my/79065/2/79065_Assist-as-needed%20control%20strategy_SCOPUS.pdf application/pdf en http://irep.iium.edu.my/79065/13/79065_Assist-as-needed%20control%20strategy%20for%20upper-limb%20_wos.pdf Ahmed Mounis, Shawgi Younis and Zainul Azlan, Norsinnira and Sado, Fatai (2019) Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability. Measurement and Control (United Kingdom), 52 (9-10). pp. 1354-1361. ISSN 0020-2940 https://journals.sagepub.com/doi/pdf/10.1177/0020294019866844 10.1177/0020294019866844
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Sado, Fatai Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability
description	The assist-as-needed technique in robotic rehabilitation is a popular technique that encourages patients’ active participation to promote motor recovery. It has been proven beneficial for patients with functional motor disability. However, its application in robotic therapy has been hindered by a poor estimation method of subjects’ functional or movement ability which is required for setting the appropriate robotic assistance. Moreover, there is also the need for consistency and repeatability of the functional ability estimation in line with the clinical procedure to facilitate a wider clinical adoption. In this study, we propose a new technique of estimation of subject’s functional ability based on the Wolf Motor Function Test. We called this estimation the functional ability index. The functional ability index enables the modulation of robotic assistance and gives a more consistent indication of subjects’ upper-limb movement ability during therapy session. Our baseline controller is an adaptive inertia-related controller, which is integrated with the functional ability index algorithm to provide movement assistance as when needed. Experimental studies are conducted on three hemiplegic patients with different levels of upper-limb impairments. Each patient is requested to perform reaching task of lifting a can from table-to-mouth according to the guidelines stipulated in the Wolf Motor Function Test. Data were collected using two inertial measurement unit sensors installed at the flexion/extension joints, and the functional ability score of each patient was rated by an experienced therapist. Results showed that the proposed functional ability index algorithm can estimate patients’ functional ability level consistently with clinical procedure and can modify generated robotic assistance in accordance with patients’ functional movement ability.
format	Article
author	Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Sado, Fatai
author_facet	Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Sado, Fatai
author_sort	Ahmed Mounis, Shawgi Younis
title	Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability
title_short	Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability
title_full	Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability
title_fullStr	Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability
title_full_unstemmed	Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability
title_sort	assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability
publisher	SAGE Publications Ltd
publishDate	2019
url	http://irep.iium.edu.my/79065/ http://irep.iium.edu.my/79065/ http://irep.iium.edu.my/79065/ http://irep.iium.edu.my/79065/1/79065_Assist-as-needed%20control%20strategy.pdf http://irep.iium.edu.my/79065/2/79065_Assist-as-needed%20control%20strategy_SCOPUS.pdf http://irep.iium.edu.my/79065/13/79065_Assist-as-needed%20control%20strategy%20for%20upper-limb%20_wos.pdf
first_indexed	2023-09-18T21:51:14Z
last_indexed	2023-09-18T21:51:14Z
_version_	1777413782637641728

Assist-as-needed control strategy for upper-limb rehabilitation based on subject’s functional ability

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