Adaptive oscillators with human-in-the-loop: Proof of concept for assistance and rehabilitation

Renaud Ronsse, Nicola Vitiello, Tommaso Lenzi, Jesse Van Den Kieboom, Maria Chiara Carrozza, Auke Jan Ijspeert

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Most recent findings in robot-assisted therapy suggest that the therapy is more successful if the patient actively participates to the movement ("assistance-as-needed"). In the present contribution, we propose a novel approach for designing highly flexible protocols based on this concept. This approach uses adaptive oscillators: a mathematical primitive having the capacity to learn the high-level features of a quasi-sinusoidal signal (amplitude, frequency, offset). Using a simple inverse model, we demonstrate that this method permits to synchronize with the torque produced by the user, such that the effort associated with the movement production is shared between the user and the assistance device, without specifying any arbitrary reference trajectory. Simulation results also establish the method relevance for helping patients with movement disorders. Since our method is specifically designed for rhythmic movements, the final target is the assistance/rehabilitation of locomotory tasks. As an initial proof of concept, this paper focuses on a simpler movement, i.e. rhythmic oscillations of the forearm about the elbow.

Original languageEnglish
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages668-674
Number of pages7
DOIs
Publication statusPublished - 2010
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
Duration: Sep 26 2010Sep 29 2010

Other

Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CountryJapan
CityTokyo
Period9/26/109/29/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

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    Ronsse, R., Vitiello, N., Lenzi, T., Van Den Kieboom, J., Carrozza, M. C., & Ijspeert, A. J. (2010). Adaptive oscillators with human-in-the-loop: Proof of concept for assistance and rehabilitation. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 668-674). [5628021] https://doi.org/10.1109/BIOROB.2010.5628021