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Interactive robot assistance for upper-limb training
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posted on 2023-06-09, 12:44 authored by Etienne Burdet, Yanan LiYanan Li, Simone Kager, Karen Chua Sui Geok, Asif Hussain, Domenico CampoloThis chapter presents a systematic interaction control framework for robot-assisted training in neurologically impaired individuals. The human-robot relationship is considered as the interaction of two agents with respective control described by a cost function, which enables us to express and implement various interaction strategies. Implementation of this method for training arm reaching in chronic stroke survivors exhibits smooth motion guidance, neither disrupting movement nor preventing the inter-trials variability critical to learning. The human-robot interaction is further analyzed by using differential game theory with an algorithm to identify the human user’s behavior, providing stable, reactive and adaptive movement assistance demonstrated in simulations
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Publication status
- Published
Publisher
ElsevierPage range
137-147Book title
Rehabilitation RoboticsISBN
9780128119952Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes
Editors
Roberto Colombo, Vittorio SanguinetiLegacy Posted Date
2018-04-05Usage metrics
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