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
Full text not available from this repository. (Request a copy)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) |
|---|---|
Division/Institute: |
10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Gerontechnology and Rehabilitation |
UniBE Contributor: |
Nef, Tobias |
Subjects: |
600 Technology > 610 Medicine & health 600 Technology > 620 Engineering |
ISSN: |
0748-7711 |
Publisher: |
U.S. Dept. of Veterans Affairs |
Language: |
English |
Submitter: |
Vanessa Vallejo |
Date Deposited: |
15 Apr 2014 08:50 |
Last Modified: |
05 Dec 2022 14:31 |
Publisher DOI: |
10.1682/JRRD.2011.09.0172 |
PubMed ID: |
23881764 |
URI: |
https://boris.unibe.ch/id/eprint/47773 |
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