Haptic Rendering Modulates Task Performance, Physical Effort and Movement Strategy during Robot-Assisted Training

Özen, Özhan; Penalver-Andres, Joaquin; Villar Ortega, Eduardo; Buetler, Karin A.; Marchal-Crespo, Laura (15 October 2020). Haptic Rendering Modulates Task Performance, Physical Effort and Movement Strategy during Robot-Assisted Training. In: 8th IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics (BioROB 2020) (pp. 1223-1228). IEEE 10.1109/BioRob49111.2020.9224317

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Research on neurorehabilitation has emphasized that somatosensory information about the interaction with the environment during physical training is crucial to provoke brain plasticity. Despite this, only a small number of robotic devices provide haptic rendering of the virtual environment during neurorehabilitation exercises, the majority with simple structures. However, to provide realistic haptic rendering while supporting neurological patients to perform motor tasks, a transparent robot with several degrees of freedom is needed. In this study, we employed Disturbance Observers to achieve high transparency and fine haptic capabilities on the six DoF exoskeleton ARMin.We incorporated arm weight compensation to reduce the excessive physical effort required to move against gravity, promoting movement performance and directing the participants’ effort to the interaction with the environment. The effect of haptic rendering and its interaction with arm weight compensation were evaluated with six healthy participants. The task consisted of inverting a virtual pendulum and keeping it inverted. We found that haptic rendering of the pendulum dynamics affects the movement strategy the participants follow, i.e., they covered a significantly larger workspace with the endeffector at a significantly higher speed, and required moderate physical effort. The inclusion of arm weight support increased task performance and reduced participants’ effort, while it did not change the movement strategy. Our results suggest that haptic rendering, together with arm weight support, are potential interventions to enhance neurorehabilitation due to the added somatosensory information during motor training.

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

Graduate School:

Graduate School for Cellular and Biomedical Sciences (GCB)

UniBE Contributor:

Özen, Özhan; Peñalver de Andrés, Joaquin Alvaro; Villar Ortega, Eduardo Enrique; Bütler, Karin and Marchal Crespo, Laura

Subjects:

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

Publisher:

IEEE

Funders:

[42] Schweizerischer Nationalfonds
[UNSPECIFIED] Stiftelsen Promobilia

Projects:

[1183] OnLINE: Optimize motor Learning to Improve NEurorehabilitation

Language:

English

Submitter:

Özhan Özen

Date Deposited:

12 Oct 2020 16:19

Last Modified:

01 Nov 2020 04:02

Publisher DOI:

10.1109/BioRob49111.2020.9224317

Related URLs:

BORIS DOI:

10.7892/boris.146917

URI:

https://boris.unibe.ch/id/eprint/146917

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