Abstract
In this work, we propose an improved version of our algorithm for real-time robotic assistance tuning in robot-based therapy with any kind of active device for upper-limb rehabilitation. In particular, the work describes in detail how to extract accurate performance indices from the subject’s execution, and how to correlate them with the amount of assistance to be correspondingly provided over time. The algorithm also aims at enhancing subject’s efforts for a more effective recovery, tailoring the therapy to the patient without prior knowledge of his/her clinical status. Finally, an assessment phase illustrates the effectiveness of the procedure, showing how the system tunes the assistance required by the subjects to perform specific tasks.
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- 1.
It is worth pointing out that both P and T are stored at the same sample frequency, resulting in having the same number of points.
- 2.
It is worth to point out that despite this is a resistance element, it is actually used as an assistive feature: the force of attraction towards the target increases with higher value of the stiffness, making the task easier.
- 3.
It is worth to point out that \(\varDelta k\) may also assume negative values, indicating a decrement of assistance.
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Acknowledgment
This work has been partially supported by RONDA project, code 4042.16092014. 066000065, funded by Regione Toscana, Italy, within the FAS ‘Salute’ 2014 program.
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Stroppa, F., Loconsole, C., Marcheschi, S., Mastronicola, N., Frisoli, A. (2018). An Improved Adaptive Robotic Assistance Methodology for Upper-Limb Rehabilitation. In: Prattichizzo, D., Shinoda, H., Tan, H., Ruffaldi, E., Frisoli, A. (eds) Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science(), vol 10894. Springer, Cham. https://doi.org/10.1007/978-3-319-93399-3_44
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