Towards more efficient robotic gait training: A novel controller to modulate movement errors

Rudt, Simon; Moos, Marco; Seppey, Solange; Riener, Robert; Marchal Crespo, Laura (28 July 2016). Towards more efficient robotic gait training: A novel controller to modulate movement errors. International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 876-881. IEEE 10.1109/BIOROB.2016.7523738

[img] Text
07523738.pdf - Published Version
Restricted to registered users only
Available under License Publisher holds Copyright.

Download (2MB) | Request a copy

Robot-aided gait training has been presented as a promising technique to improve rehabilitation in patients with neurological lesions. Although robotic guidance is often used to reduce performance errors while practicing, there is currently little evidence that robotic guidance is more beneficial for human motor learning than unassisted practice. Research on motor learning has emphasized that movement errors drive motor adaptation. Thereby, robotic algorithms that augment errors rather than decrease them have a great potential to provoke better motor learning. In this paper, we present a novel control algorithm that modulates movement errors by limiting dangerous and discouraging large errors with haptic guidance, while augmenting awareness of task relevant errors by means of error amplification. We also designed a controller that applies random disturbance torques that can work on top of the error-modulating controller. The controllers were evaluated using robotic testing. The error-modulating controller resulted in larger errors due to error amplification, but limited the maximum deviation from the desired pattern, thanks to haptic guidance. Adding random disturbance torques increased gait variability. The combination of the random disturbance and error-modulating controllers increased the kinematic errors and gait variability, while limited large errors, providing an excellent framework to enhance motor learning.

Item Type:

Conference or Workshop Item (Paper)

Division/Institute:

10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Motor Learning and Neurorehabilitation
10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Gerontechnology and Rehabilitation

UniBE Contributor:

Riener, Robert and Marchal Crespo, Laura

Subjects:

600 Technology > 610 Medicine & health
600 Technology > 620 Engineering

ISSN:

2155-1782

ISBN:

978-1-5090-3287-7

Publisher:

IEEE

Language:

English

Submitter:

Angela Amira Botros

Date Deposited:

11 Jul 2018 17:50

Last Modified:

23 Oct 2019 20:09

Publisher DOI:

10.1109/BIOROB.2016.7523738

BORIS DOI:

10.7892/boris.117128

URI:

https://boris.unibe.ch/id/eprint/117128

Actions (login required)

Edit item Edit item
Provide Feedback