TY - GEN
T1 - Intention detection in upper limb kinematics rehabilitation using a GP-based control strategy
AU - Gao, Yongzhuo
AU - Su, Yanyu
AU - Dong, Wei
AU - Du, Zhijiang
AU - Wu, Yan
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - In robot-assisted upper limb rehabilitation, detecting the intentions of hemiplegic patients is essential towards assisting the patients to actively exercise instead of driving passive motions. Many interactive channels, such as voice, EMG and EEG, have been studied to estimate the motion intentions. However, limitations of these techniques, such as high complexity, have constrained their applications in practice. In this paper, we integrate a virtual environment and a low-cost motion sensor into a novel control strategy to detect motion intentions for a rehabilitation robot. Several bimanual motion sequences are intuitively programmed by a professional therapist for subjects to repeat. The strategy uses the unaffected arm and the programmed motion sequence to estimate the motion intentions of the affected arm. We adopt this strategy in Mirror Therapy, a widely-practised therapeutic intervention method. Experiments have been conducted to validate the control strategy.
AB - In robot-assisted upper limb rehabilitation, detecting the intentions of hemiplegic patients is essential towards assisting the patients to actively exercise instead of driving passive motions. Many interactive channels, such as voice, EMG and EEG, have been studied to estimate the motion intentions. However, limitations of these techniques, such as high complexity, have constrained their applications in practice. In this paper, we integrate a virtual environment and a low-cost motion sensor into a novel control strategy to detect motion intentions for a rehabilitation robot. Several bimanual motion sequences are intuitively programmed by a professional therapist for subjects to repeat. The strategy uses the unaffected arm and the programmed motion sequence to estimate the motion intentions of the affected arm. We adopt this strategy in Mirror Therapy, a widely-practised therapeutic intervention method. Experiments have been conducted to validate the control strategy.
UR - https://www.scopus.com/pages/publications/84958158117
U2 - 10.1109/IROS.2015.7354085
DO - 10.1109/IROS.2015.7354085
M3 - 会议稿件
AN - SCOPUS:84958158117
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5032
EP - 5038
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -