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

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

Research output: Contribution to journalConference article

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.

Original languageEnglish (US)
Article number7140027
Pages (from-to)5910-5915
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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