A novel paradigm for patient-cooperative control of upper-limb rehabilitation robots

Mihelj, Matjaz; Nef, Tobias; Riener, Robert (2007). A novel paradigm for patient-cooperative control of upper-limb rehabilitation robots. Advanced Robotics, 21(8), pp. 843-867. Taylor & Francis 10.1163/156855307780851975

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Early intervention and intensive therapy improve the outcome of neuromuscular rehabilitation. There are indications that where a patient is motivated and premeditates their movement, the recovery is more effective. Therefore, a strategy for patient-cooperative control of rehabilitation devices for upper extremities is proposed and evaluated. The strategy is based on the minimal intervention principle allowing an efficient exploitation of task space redundancies and resulting in user-driven movement trajectories. The patient's effort is taken into consideration by enabling the machine to comply with forces exerted by the user. The interaction is enhanced through a multimodal display and a virtually generated environment that includes haptic, visual and sound modalities.

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




Taylor & Francis




Vanessa Vallejo

Date Deposited:

04 Jul 2014 09:11

Last Modified:

04 Jul 2014 09:11

Publisher DOI:


Uncontrolled Keywords:

Upper limbs, rehabilitation robotics, minimum jerk, minimal intervention principle



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