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

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dc.citation.firstpage62en_US
dc.citation.journalTitle2017 International Conference on Rehabilitation Robotics (ICORR)en_US
dc.citation.lastpage67en_US
dc.contributor.authorPehlivan, Ali Utkuen_US
dc.contributor.authorLosey, Dylan P.en_US
dc.contributor.authorRose, Chad G.en_US
dc.contributor.authorO’Malley, Marcia K.en_US
dc.date.accessioned2018-07-03T16:08:35Zen_US
dc.date.available2018-07-03T16:08:35Zen_US
dc.date.issued2017en_US
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.en_US
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.en_US
dc.identifier.doihttps://doi.org/10.1109/ICORR.2017.8009222en_US
dc.identifier.urihttps://hdl.handle.net/1911/102339en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.en_US
dc.titleMaintaining subject engagement during robotic rehabilitation with a minimal assist-as-needed (mAAN) controlleren_US
dc.typeJournal articleen_US
dc.type.dcmiTexten_US
dc.type.publicationpost-printen_US
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