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Characterizing the reciprocal adaptation in physical human-robot interaction to address the inter-joint coordination in neurorehabilitation

Abstract : While many robotic exoskeletons have been developed for stroke rehabilitation in recent years, there were not yet improvements to the traditional therapy. A key to unleash the potentiality of robotics is to adapt the assistance provided by the robot in order to maximize the subject engagement and effort, by having the robotic therapy evolving with the patient recovery. For this reason, we aim at better understanding the process of reciprocal adaptation in a context of physical Human-Robot Interaction (pHRI). We first developed a new adaptive controller, which assists the subject "as-needed", by regulating its interaction to maximize the human involvement. We further compared different signals driving this adaptation, to better following the functional recovery level of the patients. While the control is performed by the robot, the subject is also adapting his movements, and this adaptation has not yet been studied when dealing with 3D movements and exoskeletons. Therefore, we exposed human motions to distributed force fields, generated by the exoskeleton at the joint level, to produce specific inter-joint coordination and to analyse the effects of this exposition. With healthy participants, we observed important inter-individual difference, with adaptation to the fields in 21% of the participants, but post-effects and persisting retention of these in time in 85% of the subjects, together with spatial generalization, and, preliminarily, transfer of the effects outside of the exoskeleton context. This work towards understanding pHRI could provide insights on innovative ways to develop new controllers for improving stroke motor recovery with exoskeletons.
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Submitted on : Monday, November 12, 2018 - 5:23:08 PM
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  • HAL Id : tel-01919847, version 1


Tommaso Proietti. Characterizing the reciprocal adaptation in physical human-robot interaction to address the inter-joint coordination in neurorehabilitation. Robotics [cs.RO]. Université Pierre et Marie Curie - Paris VI, 2017. English. ⟨NNT : 2017PA066589⟩. ⟨tel-01919847⟩



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