A framework for supervised robotics-assisted mirror rehabilitation therapy

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

doi:10.1109/IROS.2014.6943061

A framework for supervised robotics-assisted mirror rehabilitation therapy

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

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, a novel robotics-assisted rehabilitation framework is proposed for bilateral mirror-image therapy. For this purpose, a customized dual-user teleoperation architecture is designed incorporating Guidance Virtual Fixtures (GVFs) to deliver the appropriate therapeutic movements to the patient's impaired limb by providing an assist-as-needed treatment strategy. In addition, the therapist is provided with informative haptic feedback that is generated based on the patient's movements, allowing the therapist to decide in real-time on the level and format of the therapy required for the patient. Stability of the closed-loop system is also investigated using the small gain theorem, in the presence of communication time delays, facilitating the case of remote tele-rehabilitation. Experimental results are given to validate the performance of the proposed platform.

Original language	English (US)
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3567-3572
Number of pages	6
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943061
State	Published - Oct 31 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: Sep 14 2014 → Sep 18 2014

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	9/14/14 → 9/18/14

Keywords

Bilateral rehabilitation
Dual-user teleoperation system
Mirror-Therapy
Robotics-assisted rehabilitation
Tele-rehabilitation

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2014.6943061

Cite this

Shahbazi, M., Atashzar, S. F., & Patel, R. V. (2014). A framework for supervised robotics-assisted mirror rehabilitation therapy. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3567-3572). Article 6943061 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943061

A framework for supervised robotics-assisted mirror rehabilitation therapy. / Shahbazi, Mahya; Atashzar, S. Farokh; Patel, Rajni V.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3567-3572 6943061 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shahbazi, M, Atashzar, SF & Patel, RV 2014, A framework for supervised robotics-assisted mirror rehabilitation therapy. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943061, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 3567-3572, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6943061

Shahbazi M, Atashzar SF, Patel RV. A framework for supervised robotics-assisted mirror rehabilitation therapy. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3567-3572. 6943061. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6943061

Shahbazi, Mahya ; Atashzar, S. Farokh ; Patel, Rajni V. / A framework for supervised robotics-assisted mirror rehabilitation therapy. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 3567-3572 (IEEE International Conference on Intelligent Robots and Systems).

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title = "A framework for supervised robotics-assisted mirror rehabilitation therapy",

abstract = "In this paper, a novel robotics-assisted rehabilitation framework is proposed for bilateral mirror-image therapy. For this purpose, a customized dual-user teleoperation architecture is designed incorporating Guidance Virtual Fixtures (GVFs) to deliver the appropriate therapeutic movements to the patient's impaired limb by providing an assist-as-needed treatment strategy. In addition, the therapist is provided with informative haptic feedback that is generated based on the patient's movements, allowing the therapist to decide in real-time on the level and format of the therapy required for the patient. Stability of the closed-loop system is also investigated using the small gain theorem, in the presence of communication time delays, facilitating the case of remote tele-rehabilitation. Experimental results are given to validate the performance of the proposed platform.",

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N2 - In this paper, a novel robotics-assisted rehabilitation framework is proposed for bilateral mirror-image therapy. For this purpose, a customized dual-user teleoperation architecture is designed incorporating Guidance Virtual Fixtures (GVFs) to deliver the appropriate therapeutic movements to the patient's impaired limb by providing an assist-as-needed treatment strategy. In addition, the therapist is provided with informative haptic feedback that is generated based on the patient's movements, allowing the therapist to decide in real-time on the level and format of the therapy required for the patient. Stability of the closed-loop system is also investigated using the small gain theorem, in the presence of communication time delays, facilitating the case of remote tele-rehabilitation. Experimental results are given to validate the performance of the proposed platform.

AB - In this paper, a novel robotics-assisted rehabilitation framework is proposed for bilateral mirror-image therapy. For this purpose, a customized dual-user teleoperation architecture is designed incorporating Guidance Virtual Fixtures (GVFs) to deliver the appropriate therapeutic movements to the patient's impaired limb by providing an assist-as-needed treatment strategy. In addition, the therapist is provided with informative haptic feedback that is generated based on the patient's movements, allowing the therapist to decide in real-time on the level and format of the therapy required for the patient. Stability of the closed-loop system is also investigated using the small gain theorem, in the presence of communication time delays, facilitating the case of remote tele-rehabilitation. Experimental results are given to validate the performance of the proposed platform.

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A framework for supervised robotics-assisted mirror rehabilitation therapy

Abstract

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Keywords

ASJC Scopus subject areas

Access to Document

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