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首页> 外文会议>International Conference on Rehabilitation Robotics >Comparison of kinematic and EMG parameters between unassisted, fixed- and adaptive-stiffness robotic-assisted ankle movements in post-stroke subjects
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Comparison of kinematic and EMG parameters between unassisted, fixed- and adaptive-stiffness robotic-assisted ankle movements in post-stroke subjects

机译：卒中后受试者在卒中后对象中的基因和EMG参数比较卒中后受试者中的基础辅助踝关节运动

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摘要

In this paper, we present an assist-as-needed scheme that effectively adapted the assistance provided by an ankle rehabilitation robot according to patient's participation and performance during therapeutic movements. We performed an error-based estimation of the ankle impedance as a valid measure of the patient participation. Then, we computed the amount of robotic assistance by three steps: normalization of the combined patient-robot stiffness, optimization of patientrobot interaction, and finally, adaptation of the level of the robotic assistance according to patient's performance while playing a serious game. Four post-stroke patients evaluated our methodology using an impedance controlled robotic system to assist alternated open-ended dorsi/plantarflexion movements in sitting position. Experimental results indicated that the proposed adaptive-stiffness method improves patient participation and performance compared to a fixed-stiffness assistive method and to an unassisted baseline. We also found that adaptive assistance could optimize the patient's muscular activity during movements. Our strategy effectively assisted with a lower stiffness allowing more kinematic variability in motions leaded by patient, decreasing the total amount of provided assistance without compromising the overall performance during therapy.
机译：在本文中，我们提出了一种可靠的方案，可根据患者在治疗运动期间的参与和性能有效地调整脚踝康复机器人提供的援助。我们对脚踝阻抗进行了基于错误的估计作为患者参与的有效衡量标准。然后，我们通过三个步骤计算了机器人协助的数量：患者机器人刚度的正常化，患者互动的优化，最后，根据患者的性能调整机器人援助的水平，同时扮演严肃的比赛。四个后卒中后患者使用阻抗控制的机器人系统评估我们的方法，以帮助坐姿的交替的开放式背部/跖屈运动。实验结果表明，与固定刚度辅助方法和非归属基线相比，所提出的自适应刚度方法提高了患者的参与和性能。我们还发现自适应辅助可以在运动期间优化患者的肌肉活动。我们的策略有效地辅助较低的僵硬，允许患者引导的运动中的运动变异，降低提供的援助总额而不损害治疗过程中的整体性能。

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