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Author: Simone Sarah Fricke
Publisher:
ISBN: 9789036550024
Category :
Languages : en
Pages : 143
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Book Description
Author: Simone Sarah Fricke
Publisher:
ISBN: 9789036550024
Category :
Languages : en
Pages : 143
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Book Description
Author: Konstantinos Tsiakas
Publisher:
ISBN:
Category : Artificial intelligence
Languages : en
Pages : 122
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Book Description
Robot-Assisted Training (RAT) is a growing body of research in Human-Robot Interaction (HRI) that studies how robots can assist humans during a physical or cognitive training task. Robot-Assisted Training systems have a wide range of applications,varying from physical and/or social assistance in post-stroke rehabilitation to intervention and therapy for children with Autism Spectrum Disorders. The main goal of such systems is to provide a personalized and tailored session that matches user abilities and needs, by adjusting task-related parameters (e.g., task difficulty, robot behavior), in order to enhance the effects of the training session. Moreover, such systems need to adapt their training strategy based on user's affective and cognitive states. Considering the sequential nature of human-robot interactions, Reinforcement Learning (RL) is an appropriate machine learning paradigm for solving sequential decision making problems with the potential to develop adaptive robots that adjust their behavior based on human abilities, preferences and needs. This research is motivated by the challenges that arise when different types of users are considered for real-time personalization using Reinforcement Learning, in a Robot-Assisted Training scenario. To this end, we present an Interactive Learning and Adaptation Framework for Personalized Robot-Assisted Training. This framework utilizes Interactive RL (IRL)methods to facilitate the adaptation of the robot to each individual, monitoring both behavioral (task performance) and physiological data (task engagement). We discuss how task engagement can be integrated to the personalization mechanism, through Learning from Feedback. Moreover, we show how Human-in-the-Loop approaches can be used to utilize human expertise using informative control interfaces, towards a safe and tailored interaction. We illustrate this framework with a Socially Assistive Robotic (SAR) system that instructs and monitors a cognitive training task and adjusts task diculty and robot behavior, in order to provide a personalized training session. We present our data-driven approach (data collection, data analysis, user modeling and simulation), as well as a user study to evaluate our real-time SAR-based prototype system for personalized cognitive training. We discuss the limitations and challenges of our approach, as well as possible future directions, considering the different modules of the proposed system (RL-based personalization, user modeling,EEG analysis, Human-in-the-Loop). The long-term goal of this research is to develop personalized and co-adaptive human-robot interactive systems, where both agents(human, robot) adapt and learn from each other, in order to establish an efficient interaction.
Author: Shahid Hussain
Publisher:
ISBN:
Category : Gait disorders
Languages : en
Pages : 176
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Book Description
Neurologic injuries, such as stroke and spinal cord injuries (SCI), cause damage to neural systems and motor function, which results in lower limb impairment and gait disorders. Subjects with gait disorders require specific training to regain functional mobility. Traditionally, manual physical therapy is used for the gait training of neurologically impaired subjects which has limitations, such as the excessive workload and fatigue of physical therapists. The rehabilitation engineering community is working towards the development of robotic devices and control schemes that can assist during the gait training. The initial prototypes of these robotic gait training orthoses use conventional, industrial actuators that are either extremely heavy or have high endpoint impedance (stiffness). Neurologically impaired subjects often suffer from severe spasms. These stiff actuators may produce forces in response to the undesirable motions, often causing pain or discomfort to patients. The control schemes used by the initial prototypes of robotic gait training orthoses also have a limited ability to provide seamless, adaptive, and customized robotic assistance. This requires new design and control methods to be developed to increase the compliance and adaptability of these automated gait training devices. This research introduces the development of a new robotic gait training orthosis that is intrinsically compliant. Novel, assist-as-needed (AAN) control strategies are proposed to provide adaptive and customized robotic assistance to subjects with different levels of neurologic impairments. The new robotic gait training orthosis has six degrees of freedom (DOFs), which is powered by pneumatic muscle actuators (PMA). The device provides naturalistic gait pattern and safe interaction with subjects during gait training. New robust feedback control schemes are proposed to improve the trajectory tracking performance of PMAs. A dynamic model of the device and a human lower limb musculoskeletal model are established to study the dynamic interaction between the device and subjects. In order to provide adaptive, customized robot assisted gait training and to enhance the subject's voluntary participation in the gait training process, two new control schemes are proposed in this research. The first control scheme is based on the impedance control law. The impedance control law modifies the robotic assistance based on the human subject's active joint torque contributions. The levels of robot compliance can be selected by the physical therapist during the impedance control scheme according to the disability level and stage of rehabilitation of neurologically impaired subjects. The second control scheme is proposed to overcome the shortcomings of impedance control scheme and to provide seamless adaptive, AAN gait training. The adaptive, AAN gait training scheme is based on the estimation of the disability level of neurologically impaired subjects based on the kinematic error and adapts the robotic assistance accordingly. All the control schemes have been evaluated on neurologically intact subjects and the results show that these control schemes can deliver their intended effects. Rigorous clinical trials with neurologically impaired subjects are required to prove the therapeutic efficacy of the proposed robotic orthosis and the adaptive gait training schemes. The concept of intrinsically compliant robotic gait training orthosis, together with the trajectory tracking and impedance control of robotic gait training orthosis are the important contributions of this research. The algorithms and models developed in this research are applicable to the development of other robotic devices for rehabilitation and assistive purposes. The major contribution of the research lies in the development of a seamless, adaptive AAN gait training strategy. The research will help in evolving the field of compliant actuation of rehabilitation robots along with the development of new control schemes for providing seamless, adaptive AAN gait training.
Author: Robert Riener
Publisher:
ISBN: 9781601987402
Category : Medical
Languages : en
Pages : 152
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Book Description
Rehabilitation Robotics summarizes the rationale for robot-assisted therapy and presents the technological steps in the evolution of the design and development of lower and upper extremity rehabilitation robots. After presenting the basic mechanisms of natural and artificial movement restoration, and the rationale for robot-aided movement therapy, it shows several design criteria that are relevant for the development of effective and safe rehabilitation robots.
Author: Barbara Barbosa Neves
Publisher: Springer
ISBN: 9811336938
Category : Social Science
Languages : en
Pages : 335
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Book Description
This book brings together Sociologists, Computer Scientists, Applied Scientists and Engineers to explore the design, implementation and evaluation of emerging technologies for older people. It offers an innovative and comprehensive overview, not only of the rapidly developing suite of current digital technologies and platforms, but also of perennial theoretical, methodological and ethical issues. As such, it offers support for researchers and professionals who are seeking to understand and/or promote technology use among older adults. The contributions presented here offer theoretical and methodological frameworks for understanding age-based digital inequalities, participation, digital design and socio-gerontechnology. They include ethical and practical reflections on the design and evaluation of emerging technologies for older people, as well as guidelines for ethical, participatory, professional and cross-disciplinary research and practice. In addition, they feature state-of-the-art, international empirical research on communication technologies, games, assistive technology and social media. As the first truly multidisciplinary book on technology use among ageing demographics, and intended for students, researchers, applied researchers, practitioners and professionals in a variety of fields, it will provide these readers with insights, guidelines and paradigms for practice that transcend specific technologies, and lay the groundwork for future research and new directions in innovation.
Author:
Publisher: BoD – Books on Demand
ISBN: 1803567732
Category : Technology & Engineering
Languages : en
Pages : 114
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Book Description
This book introduces the reader to the deeper details of the human gait process. To this end, it takes a multidisciplinary approach, covering all the fields involved in the gait pattern: biomechanics, neuroscience, and even technology (from the point of view of detecting anomalies and improving them). From the basics of walking to the latest scientific advances, the aim is to bring together the knowledge of experts in the field to provide a multidisciplinary view of this area of study. The target audience for this book is not only the scientific community but also clinicians and readers interested in unlocking the secrets of the walking process. Through this book, readers will discover how in-depth knowledge of human gait can change their perception of rehabilitation, sports performance, or even their own everyday mobility. On behalf of the editors of this book, we recommend that you take a look at all that Human Gait - Recent Findings and Research has to offer. The works contained in this book are the result of careful selection and evaluation, making this book an essential resource for those who want to learn about the human gait pattern.
Author: Roberto Colombo
Publisher: Academic Press
ISBN: 0128119969
Category : Technology & Engineering
Languages : en
Pages : 384
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Book Description
Rehabilitation Robotics gives an introduction and overview of all areas of rehabilitation robotics, perfect for anyone new to the field. It also summarizes available robot technologies and their application to different pathologies for skilled researchers and clinicians. The editors have been involved in the development and application of robotic devices for neurorehabilitation for more than 15 years. This experience using several commercial devices for robotic rehabilitation has enabled them to develop the know-how and expertise necessary to guide those seeking comprehensive understanding of this topic. Each chapter is written by an expert in the respective field, pulling in perspectives from both engineers and clinicians to present a multi-disciplinary view. The book targets the implementation of efficient robot strategies to facilitate the re-acquisition of motor skills. This technology incorporates the outcomes of behavioral studies on motor learning and its neural correlates into the design, implementation and validation of robot agents that behave as ‘optimal’ trainers, efficiently exploiting the structure and plasticity of the human sensorimotor systems. In this context, human-robot interaction plays a paramount role, at both the physical and cognitive level, toward achieving a symbiotic interaction where the human body and the robot can benefit from each other’s dynamics. Provides a comprehensive review of recent developments in the area of rehabilitation robotics Includes information on both therapeutic and assistive robots Focuses on the state-of-the-art and representative advancements in the design, control, analysis, implementation and validation of rehabilitation robotic systems
Author:
Publisher:
ISBN:
Category : Cerebrovascular disease
Languages : en
Pages : 0
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Book Description
Robotic-assisted gait training has been cited as a potential rehabilitation intervention for the recovery of ambulation in hemiplegic stroke patients. Previous reviews on robotic gait training have elicited a need for more randomized, clinical studies on robotic gait training for the development of evidence-based intervention protocols and elimination of research bias. The purpose of this scoping review was to provide an updated examination of the clinical research on robotic assisted gait training and address any research gaps to be considered for future research. This review included randomized, clinical trials on stroke patients with a robotic-assisted treatment (RAGT) and conventional gait training (CGT) group. This review included studies observing the following outcome measures: Functional Ambulatory Category, Gait Speed, 6-minute Walking Test, Berg Balance Scale, Fugl-Meyer Assessment, and Modified Ashworth Scale. Screening on Web of Science and PubMed revealed 11 studies for review from an initial pool of 231 unique titles. Studies focused on subacute stroke patients, non-ambulatory subjects, and longer intervention protocols were more likely to observe clinically meaningful improvements in outcome. RAGT groups were more likely to observe greater improvements in outcome than CGT groups. However, individual studies observed relatively few significant differences between treatment groups. Clinical trials on robotic-assisted gait training for stroke patients were at different stages in research, based on the assistive device in question. Future clinical trials should focus on cost-effectiveness of RAGT, proper intervention dosage, and personalization of RAGT based on stroke subject characteristics.
Author: Susan J. Harkema
Publisher:
ISBN: 0195342089
Category : Medical
Languages : en
Pages : 200
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Book Description
Physical rehabilitation for walking recovery after spinal cord injury is undergoing a paradigm shift. Therapy historically has focused on compensation for sensorimotor deficits after SCI using wheelchairs and bracing to achieve mobility. With locomotor training, the aim is to promote recovery via activation of the neuromuscular system below the level of the lesion. What basic scientists have shown us as the potential of the nervous system for plasticity, to learn, even after injury is being translated into a rehabilitation strategy by taking advantage of the intrinsic biology of the central nervous system. While spinal cord injury from basic and clinical perspectives was the gateway for developing locomotor training, its application has been extended to other populations with neurologic dysfunction resulting in loss of walking or walking disability.
Author: Raphael Banz
Publisher:
ISBN:
Category :
Languages : en
Pages : 214
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Book Description
