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Generalized elasticities improve patient-cooperative control of rehabilitation robots


Vallery, H; Duschau-Wicke, A; Riener, R (2009). Generalized elasticities improve patient-cooperative control of rehabilitation robots. In: IEEE International Conference on Rehabilitation Robotics (ICORR), Kyoto, 23 June 2009 - 26 June 2009, 535-541.

Abstract

In the effort to make rehabilitation robots patient-cooperative, two prerequisites have to be met: One is providing the necessary amount of guidance and safety for the patient. Just as important is transparency, i.e. minimum interaction between robot and human when it is not needed. Recently, we suggested the method of generalized elasticities, which reduce undesired interaction forces due to robot dynamics by shaping optimal conservative force fields to compensate these dynamics. We now show that these conservative force fields can not only be used to minimize undesired interaction, but that they can also support and guide the patient during therapy when needed. Thus, the patient is given maximum freedom within a safe training environment, with the aim to maximize training efficacy.

Abstract

In the effort to make rehabilitation robots patient-cooperative, two prerequisites have to be met: One is providing the necessary amount of guidance and safety for the patient. Just as important is transparency, i.e. minimum interaction between robot and human when it is not needed. Recently, we suggested the method of generalized elasticities, which reduce undesired interaction forces due to robot dynamics by shaping optimal conservative force fields to compensate these dynamics. We now show that these conservative force fields can not only be used to minimize undesired interaction, but that they can also support and guide the patient during therapy when needed. Thus, the patient is given maximum freedom within a safe training environment, with the aim to maximize training efficacy.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:04 Faculty of Medicine > Balgrist University Hospital, Swiss Spinal Cord Injury Center
Dewey Decimal Classification:610 Medicine & health
Language:English
Event End Date:26 June 2009
Deposited On:30 Sep 2009 15:47
Last Modified:11 Aug 2017 06:16
Publisher DOI:https://doi.org/10.1109/ICORR.2009.5209595

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