Robotics-Assisted Mirror Rehabilitation Therapy: A Therapist-in-the-Loop Assist-as-Needed Architecture

摘要: This paper presents a therapist-in-the-loop framework for robotics-assisted mirror rehabilitation integrated with adaptive assist-as-needed therapy (ANT) that is adjusted based on the impairment level of patient's affected limb. The framework, which designed patients hemiparesis and/or hemispatial neglect, uses functional limb as medium to transfer therapeutic training from therapist impaired (PIL). allows patient use his/her adjust desired trajectory generated by if painful or uncomfortable PIL. In order realize patient-targeted therapy, two motor-function assessment metrics, performance symmetry and guidance, are proposed, providing real time, task-independent, objective PIL's motor deficiency. An adaptation law also presented intensity delivered in time aforementioned estimation Closed-loop system stability has been investigated presence communication delays facilitate tele/in-home rehabilitation. For this purpose, combination Circle Criterion Small-Gain theorem applied account both time-varying ANT. Results experiments investigate proposed reported.