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

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Aim

    • 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
  • 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
  • Compared results with common performance metric.
  • Estimation shows very satisfying results for both groups, even though arm model was strongly simplified.
conclusion
Conclusion
  • Displaying this metric to patients during therapy might motivate them to actively participate in training.
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