Advanced search
Start date
(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Adaptive Impedance Control Applied to Robot-Aided Neuro-Rehabilitation of the Ankle

Full text
Perez-Ibarra, Juan C. [1, 2] ; Siqueira, Adriano A. G. [1, 3, 4] ; Silva-Couto, Marcela A. [1, 3, 4] ; de Russo, Thiago L. [5] ; Krebs, Hermano I. [2, 6, 7, 8, 9, 10]
Total Authors: 5
[1] Univ Sao Paulo Sao Carlos, Dept Mech Engn, BR-13566590 Sao Carlos, SP - Brazil
[2] MIT, Dept Mech Engn, 77 Massachusetts Ave, Cambridge, MA 02139 - USA
[3] Univ Sao Paulo, Ctr Adv Studies Rehabil, BR-03178200 Sao Paulo - Brazil
[4] Univ Sao Paulo, Ctr Robot Sao Carlos, BR-03178200 Sao Paulo - Brazil
[5] Univ Fed Sao Carlos, Dept Phys Therapy, BR-13565905 Sao Carlos, SP - Brazil
[6] Univ Maryland, Sch Med, Dept Neurol, Baltimore, MD 21201 - USA
[7] Fujita Hlth Univ, Sch Med, Dept Rehabil Med 1, Toyoake, Aichi 4701192 - Japan
[8] Univ Newcastle, Inst Neurosci, Newcastle Upon Tyne NE1 7RU, Tyne & Wear - England
[9] Osaka Univ, Dept Mech Engn, Osaka 5650871 - Japan
[10] Loughborough Univ, Wolfson Sch Mech Elect & Mfg Dept, Loughborough LE11 3TU, Leics - England
Total Affiliations: 10
Document type: Journal article
Source: IEEE ROBOTICS AND AUTOMATION LETTERS; v. 4, n. 2, p. 185-192, APR 2019.
Web of Science Citations: 2

Robot-aided neuro-rehabilitation is a potential solution to help resolve the increasing demand for post-stroke therapy. In this letter, we propose an assistive-resistive approach to promote active patient participation during robotic therapy. In order to automatically determine the most appropriate level of task difficulty, we recommend a novel approach for real-time adaptation of the robotic assistance according to the instantaneous patient's participation and performance. First, we estimated the dynamic con tribution of the patient from robot's torque and kinematic data. Second, we adapted the stiffness parameter of the robot's impedance control according to the purported patient's participation. And third, we adapted the robotic assistance according to his/her performance while playing a serious game. We present the results of a feasibility study in whichwe evaluated ourmethodology with four personswith impairments due to stroke in a single session using the ankle robot. Our proposed metric for performance and participation has potential implications for real-time assessment during robot-assisted therapy. The proposed adaptive strategy, when compared to a fixed-stiffness approach, allows more kinematic variability in patient-led movements without compromising the overall performance during therapy. (AU)

FAPESP's process: 11/10369-6 - Robotic rehabilitation of walking: new strategies based on natural characteristics
Grantee:Adriano Almeida Gonçalves Siqueira
Support type: Scholarships abroad - Research
FAPESP's process: 13/14756-0 - Adaptive variable impedance applied to robotic rehabilitation of walking
Grantee:Adriano Almeida Gonçalves Siqueira
Support type: Regular Research Grants