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Title GENTLE/A - Adaptive Robotic Assistance for Upper-Limb Rehabilitation
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Date Accessioned
University/Publisher University of Hertfordshire
Abstract Advanced devices that can assist the therapists to offer rehabilitation are in high demand with the growing rehabilitation needs. The primary requirement from such rehabilitative devices is to reduce the therapist monitoring time. If the training device can autonomously adapt to the performance of the user, it can make the rehabilitation partly self-manageable. Therefore the main goal of our research is to investigate how to make a rehabilitation system more adaptable. The strategy we followed to augment the adaptability of the GENTLE/A robotic system was to (i) identify the parameters that inform about the contribution of the user/robot during a human-robot interaction session and (ii) use these parameters as performance indicators to adapt the system. Three main studies were conducted with healthy participants during the course of this PhD. The first study identified that the difference between the position coordinates recorded by the robot and the reference trajectory position coordinates indicated the leading/lagging status of the user with respect to the robot. Using the leadlag model we proposed two strategies to enhance the adaptability of the system. The first adaptability strategy tuned the performance time to suit the user???s requirements (second study). The second adaptability strategy tuned the task difficulty level based on the user???s leading or lagging status (third study). In summary the research undertaken during this PhD successfully enhanced the adaptability of the GENTLE/A system. The adaptability strategies evaluated were designed to suit various stages of recovery. Apart from potential use for remote assessment of patients, the work presented in this thesis is applicable in many areas of human-robot interaction research where a robot and human are involved in physical interaction.
Subjects/Keywords Upper-limb rehabilitation; Stroke; Human Robot Interaction; Adaptable system; Lead-lag model; Haptics for rehabilitation; Robot-assisted training; Assistive technologies; Biomechanics of the upper-limb; Embedded-Virtual environments
Language en
Rights info:eu-repo/semantics/openAccess
Country of Publication uk
Record ID handle:2299/13895
Repository herts
Date Retrieved
Date Indexed 2018-02-15
Issued Date 2014-03-05 00:00:00

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…offered in sub-acute stage. 16 Background Outpatient settings are more suitable for acute and chronic stages. It is estimated that the majority of the stroke care costs are related to hospital inpatient services (Omer et al., 2009). Hence…

…2.2 Need for rehabilitation . . . . . . . . . . . . . . . . 2.3 Need for robotics in rehabilitation . . . . . . . . . . 2.4 Robotics in health-care . . . . . . . . . . . . . . . . 2.4.1 Robotics for medical interventions . . . . . . 2.4.2 Robotics for

…professional care . . . . . . . . 2.4.3 Robotics for assistive technology . . . . . . 2.4.4 Robotics for assessment and diagnostics . . . 2.4.5 Robotics for rehabilitation . . . . . . . . . . 2.5 Robotics for neuro-rehabilitation . . . . . . . . . . . 2.6…

…role and corresponding testing condition (modified) (Exp-I) . 52 59 66 69 4.1 4.2 AA I adjusted duration by δ based on Σ(∆E f f ort) . . . . . . . . . . . . Adaptation of segment duration for Participant 2 during the…

…five iterations of the AA2 mode (Exp–II) . . . . . . . . . . . . . . . . . . . . . . . . . Segment Details - listing various input conditions (Exp-II) . . . . . . . . Categories under four conditions used as dummy variables for

…regression . Descriptive Statistics for dependent variable (Regression results) . . . . . Model Summary (Regression results) . . . . . . . . . . . . . . . . . . . Condition Table (combination of input conditions chosen)…

…3.5 Plots for Participant 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.6 Plots for Participant 3 during ‘Path 1’ . . . . . . . . . . . . . . . . . . . 3.7 Plots with Condition-1 and Condition-2 . . . . . . . . . . . . . . . . . . 3.8…

…Amirabdollahian . . . . . . . . . . . 3.10 Raw-data organisation for Exp-I . . . . . . . . . . . . . . . . . . . . . . 18 19 20 21 22 24 28 30 32 34 38 40 52 54 56 57 58 60 61 63 65 66 xiv LIST OF FIGURES 3.11 Tau (τ) vs ∆E f f ort…

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