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Estimating the patient’s contribution during robot-assisted therapy

Develop methods to estimate patient’s contribution during robot-assisted therapy by combining kinematic measures with motor assistance data. The aim is to assist patients actively engage in neurorehabilitation with sophisticated controllers. Inverse dynamic models of the robot and passive human arm were created to calculate torque requirements and quantify patient involvement. The metric developed provided satisfying results for both nondisabled subjects and patients with neurological issues. Displaying this metric during therapy could motivate patients to actively participate in their training. 8 Relevant

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Estimating the patient’s contribution during robot-assisted therapy

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  1. Estimating the patient’s contribution during robot-assisted therapy Marco Guidali, PhD; Urs Keller, MSc; Verena Klamroth-Marganska, MD; Tobias Nef, PhD; Robert Riener, PhD

  2. Aim • Develop methods to quantify patient’s contribution during robot-assisted therapy by combining kinematic measures and the motor assistance applied. • Relevance • Assistive robots with sophisticated controllers are used in neurorehabilitation to assist and cooperate with the patient during therapy. • Difficult for patient to judge to what extent robot contributes to execution of movement.

  3. Method • Created inverse dynamic models of robot and passive human arm to: • Calculate required torques to move robot and arm. • Build, together with recorded motor torque, metric (in percentage) that represents patient’s contribution to movement. • Evaluated metric with 12 nondisabled subjects and 7 patients with neurological problems.

  4. Results • Compared results with common performance metric. • Estimation shows very satisfying results for both groups, even though arm model was strongly simplified.

  5. Conclusion • Displaying this metric to patients during therapy might motivate them to actively participate in training.

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