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

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

doi:10.1109/ICRA.2015.7140027

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

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

Mechanical and Aerospace Engineering

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

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 language	English (US)
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5910-5915
Number of pages	6
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7140027
State	Published - Jun 29 2015
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: May 26 2015 → May 30 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Other

Other	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	5/26/15 → 5/30/15

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2015.7140027

Cite this

Shahbazi, M., Atashzar, S. F., Tavakoli, M., & Patel, R. V. (2015). Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy: An Assist-as-Needed framework. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 5910-5915). Article 7140027 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7140027

Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy: An Assist-as-Needed framework. / Shahbazi, Mahya; Atashzar, S. Farokh; Tavakoli, Mahdi et al.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 5910-5915 7140027 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

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

Shahbazi, M, Atashzar, SF, Tavakoli, M & Patel, RV 2015, Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy: An Assist-as-Needed framework. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7140027, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 5910-5915, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7140027

Shahbazi M, Atashzar SF, Tavakoli M, Patel RV. Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy: An Assist-as-Needed framework. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 5910-5915. 7140027. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7140027

Shahbazi, Mahya ; Atashzar, S. Farokh ; Tavakoli, Mahdi et al. / Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy : An Assist-as-Needed framework. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 5910-5915 (Proceedings - IEEE International Conference on Robotics and Automation; June).

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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.",

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AB - 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.

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

Abstract

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Other

ASJC Scopus subject areas

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