TY - GEN
T1 - Involuntary movement during haptics-enabled robotic rehabilitation
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
AU - Atashzar, S. Farokh
AU - Saxena, Abhijit
AU - Shahbazi, Mahya
AU - Patel, Rajni V.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - In this paper, a safety concern arising from pathological tremors in patients interacting with haptics-enabled rehabilitation robots is analyzed and the issue of tremor amplification for assistive/coordinative robotic rehabilitation is investigated. In order to deal with this issue, a control architecture is proposed to dissipate the extra energy of the system and guarantee its stability and safety of the patient. For this purpose, (a) first, a multilayer adaptive filter is proposed to estimate high-frequency components of hand motions (corresponding to involuntary movements); (b) then a resistive force field is generated and applied by the robot to attenuate the tremor; and (c) simultaneously the residual low-frequency voluntary actions are amplified/coordinated to deliver appropriate therapy. Stability analysis and a stabilization scheme are developed to guarantee safe interaction regardless of variations in the patient's dynamics and tremor kinematics. The ultimate goal is to make it possible for patients with pathological tremors to take advantage of non-passive robotic assistive/coordinative therapy. This would not be possible using conventional systems due to the possibility of tremor amplification. Experimental results are presented.
AB - In this paper, a safety concern arising from pathological tremors in patients interacting with haptics-enabled rehabilitation robots is analyzed and the issue of tremor amplification for assistive/coordinative robotic rehabilitation is investigated. In order to deal with this issue, a control architecture is proposed to dissipate the extra energy of the system and guarantee its stability and safety of the patient. For this purpose, (a) first, a multilayer adaptive filter is proposed to estimate high-frequency components of hand motions (corresponding to involuntary movements); (b) then a resistive force field is generated and applied by the robot to attenuate the tremor; and (c) simultaneously the residual low-frequency voluntary actions are amplified/coordinated to deliver appropriate therapy. Stability analysis and a stabilization scheme are developed to guarantee safe interaction regardless of variations in the patient's dynamics and tremor kinematics. The ultimate goal is to make it possible for patients with pathological tremors to take advantage of non-passive robotic assistive/coordinative therapy. This would not be possible using conventional systems due to the possibility of tremor amplification. Experimental results are presented.
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U2 - 10.1109/IROS.2014.6943060
DO - 10.1109/IROS.2014.6943060
M3 - Conference contribution
AN - SCOPUS:84911478254
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3561
EP - 3566
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 14 September 2014 through 18 September 2014
ER -