Estimating the patient's contribution during robot-assisted therapy

Guidali, Marco; Keller, Urs; Klamroth-Marganska, Verena; Nef, Tobias; Riener, Robert (2013). Estimating the patient's contribution during robot-assisted therapy. Journal of rehabilitation research and development, 50(3), pp. 379-394. U.S. Dept. of Veterans Affairs 10.1682/JRRD.2011.09.0172

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Robot-assisted therapy has become increasingly common in neurorehabilitation. Sophisticated controllers have been developed for robots to assist and cooperate with the patient. It is difficult for the patient to judge to what extent the robot contributes to the execution of a movement. Therefore, methods to comprehensively quantify the patient's contribution and provide feedback are of key importance. We developed a method comprehensively to estimate the patient's contribution by combining kinematic measures and the motor assistance applied. Inverse dynamic models of the robot and the passive human arm calculate the required torques to move the robot and the arm and build, together with the recorded motor torque, a metric (in percentage) that represents the patient's contribution to the movement. To evaluate the developed metric, 12 nondisabled subjects and 7 patients with neurological problems simulated instructed movement contributions. The results are compared with a common performance metric. The estimation shows very satisfying results for both groups, even though the arm model used was strongly simplified. Displaying this metric to patients during therapy can potentially motivate them to actively participate in the training.

Item Type:

Journal Article (Original Article)


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

UniBE Contributor:

Nef, Tobias


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




U.S. Dept. of Veterans Affairs




Vanessa Vallejo

Date Deposited:

15 Apr 2014 08:50

Last Modified:

15 Apr 2014 08:50

Publisher DOI:


PubMed ID:



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