Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy: An Assist-as-Needed framework

Mahya Shahbazi; S. Farokh Atashzar; Mahdi Tavakoli; Rajni V. Patel

ICRA 2015poster10 citations

Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy: An Assist-as-Needed framework

Mahya Shahbazi, S. Farokh Atashzar, Mahdi Tavakoli, Rajni V. Patel

Abstract

This paper presents a Therapist-in-the-Loop (TIL) framework for robotics-assisted mirror rehabilitation therapy integrated with adaptive Assist-as-Needed (ANN) training, to be adjusted based on the impairment and disability level of the patient's affected limb. Closed-loop system stability has been investigated using a combination of the Circle Criterion and the Small-Gain Theorem to account both for time-delay and the time-varying adaptive ANN training. Experiments to investigate the performance of the proposed framework are reported.

BibTeX

@inproceedings{icra2015_therapistinthelo,
  title = {Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy: An Assist-as-Needed framework},
  author = {Mahya Shahbazi and S. Farokh Atashzar and Mahdi Tavakoli and Rajni V. Patel},
  booktitle = {ICRA 2015},
  year = {2015}
}