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Robotic movement training (categories (assistive controllers (rationale…
Robotic movement training
directions
mechanical design
devices for activities of daily life
control strategies
categories
assistive controllers
rationale
reducing spacisity and stifness
somatosense to the brain
the patient learns the pattern
physically assisting movement
safety
progress in task difficulty
psychological aspect
problems
not learning the real task
solution: tuning
no compensation
slacking hypothesis
assistance as needed
impedance based controlled
helps to follow a desired trajectory
viscous force fields
virtual object (achieving movement)
user-definable mechanical limits (postural & movements)
proportional feedback position (stifness)
triggered assitance
threshold to reach (self-initiated movement)
elapsed time
force generated by subj
spatial tracking error
kinematics
angles
velocity
muscle activity
counterbalance based (passive devices)
reduces the amount of weight
EMG based (no patterns imposed)
disavantages
noise
risky movements (spasm)
used if the subj has confidence with the movement
Performance-based adaptation of task parameters
automatic tuning
f → forgetting factor
g→ add assistance if e increases
P→ control parameter
minimal assistance + minimal error ⇒ cost function
determing the desired trajectory
normative movements
pre-recordered trajectory
unimpaired voluteers
therapist-guided assistance
movement of the "good limb"
adaptive approaches
conctat forces between robot & limb
every time sample base
difference between the actual and the effect
challange-based controllers
error amplification (distorting visual feedback
resistive
Constraint- induced (of the unimpaired limb )
haptic simulation + virtual reality
wide range of situations
quickly switch
automatically grade the difficulty
automatically reset itself if needed
non conctact coaching
gestures with mimic proposed by the robot
pros
helps in the behaviour
promotes comunication between robot, therapist, subj
the robot can measure
with authistic children non contact is essential
