A novel paradigm for patient-cooperative control of upper-limb rehabilitation robots
Publisher DOI
Abstract
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.
Date Issued
2007-01
Publication Type
Article
Subject(s)
Subjects
Upper limbs
•
rehabilitation robotics
•
minimum jerk
•
minimal intervention principle
Language(s)
en
Author(s)
Mihelj, Matjaz | |
Riener, Robert |
Additional Credits
Journal
Advanced Robotics
Publisher
Taylor & Francis
ISSN
0169-1864
Access(Rights)
metadata.only