Maintaining subject engagement during robotic rehabilitation with a minimal assist-as-needed (mAAN) controller

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dc.citation.firstpage62
dc.citation.journalTitle2017 International Conference on Rehabilitation Robotics (ICORR)
dc.citation.lastpage67
dc.contributor.authorPehlivan, Ali Utku
dc.contributor.authorLosey, Dylan P.
dc.contributor.authorRose, Chad G.
dc.contributor.authorO’Malley, Marcia K.
dc.date.accessioned2018-07-03T16:08:35Z
dc.date.available2018-07-03T16:08:35Z
dc.date.issued2017
dc.description.abstractOne challenge of robotic rehabilitation interventions is devising ways to encourage and maintain high levels of subject involvement over long duration therapy sessions. Assist-as-needed controllers have been proposed which modulate robot intervention in movements based on measurements of subject involvement. This paper presents a minimal assist-as-needed controller, which modulates allowable error bounds and robot intervention based on sensorless force measurement accomplished through a nonlinear disturbance observer. While similar algorithms have been validated using healthy subjects, this paper presents a validation of the proposed mAAN control algorithm's ability to encourage user involvement with an impaired individual. User involvement is inferred from muscle activation, measured via surface electromyography (EMG). Experimental validation shows increased EMG muscle activation when using the proposed mAAN algorithm compared to non-adaptive algorithms.
dc.identifier.citationPehlivan, Ali Utku, Losey, Dylan P., Rose, Chad G., et al.. "Maintaining subject engagement during robotic rehabilitation with a minimal assist-as-needed (mAAN) controller." <i>2017 International Conference on Rehabilitation Robotics (ICORR),</i> (2017) IEEE: 62-67. https://doi.org/10.1109/ICORR.2017.8009222.
dc.identifier.doihttps://doi.org/10.1109/ICORR.2017.8009222
dc.identifier.urihttps://hdl.handle.net/1911/102339
dc.language.isoeng
dc.publisherIEEE
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
dc.titleMaintaining subject engagement during robotic rehabilitation with a minimal assist-as-needed (mAAN) controller
dc.typeJournal article
dc.type.dcmiText
dc.type.publicationpost-print
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