Estimating the patient s contribution during robot assisted therapy
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Estimating the patient’s contribution during robot-assisted therapy. Marco Guidali, PhD; Urs Keller, MSc; Verena Klamroth-Marganska, MD; Tobias Nef, PhD; Robert Riener, PhD. Aim

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Estimating the patient s contribution during robot assisted therapy

Estimating the patient’s contribution during robot-assisted therapy

Marco Guidali, PhD; Urs Keller, MSc; Verena Klamroth-Marganska, MD; Tobias Nef, PhD; Robert Riener, PhD


  • Aim robot-assisted therapy

    • Develop methods to quantify patient’s contribution during robot-assisted therapy by combining kinematic measures and the motor assistance applied.

  • Relevance

    • Assistive robots with sophisticated controllers are used in neurorehabilitation to assist and cooperate with the patient during therapy.

    • Difficult for patient to judge to what extent robot contributes to execution of movement.


Method
Method robot-assisted therapy

  • Created inverse dynamic models of robot and passive human arm to:

    • Calculate required torques to move robot and arm.

    • Build, together with recorded motor torque, metric (in percentage) that represents patient’s contribution to movement.

  • Evaluated metric with 12 nondisabled subjects and 7 patients with neurological problems.


Results
Results robot-assisted therapy

  • Compared results with common performance metric.

  • Estimation shows very satisfying results for both groups, even though arm model was strongly simplified.


Conclusion
Conclusion robot-assisted therapy

  • Displaying this metric to patients during therapy might motivate them to actively participate in training.


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