A framework for supervised robotics-assisted mirror rehabilitation therapy

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3567-3572
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

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

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

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

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  • 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). [6943061] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943061