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Estimating the patient’s contribution during robot-assisted therapy

Estimating the patient’s contribution during robot-assisted therapy. Marco Guidali, PhD; Urs Keller, MSc; Verena Klamroth-Marganska, MD; Tobias Nef, PhD; Robert Riener, PhD. Aim

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Estimating the patient’s contribution during robot-assisted therapy

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  1. Estimating the patient’s contribution during robot-assisted therapy Marco Guidali, PhD; Urs Keller, MSc; Verena Klamroth-Marganska, MD; Tobias Nef, PhD; Robert Riener, PhD

  2. Aim • Develop methods to quantify patient’s contribution during robot-assisted therapy by combining kinematic measures and the motor assistance applied. • Relevance • Assistive robots with sophisticated controllers are used in neurorehabilitation to assist and cooperate with the patient during therapy. • Difficult for patient to judge to what extent robot contributes to execution of movement.

  3. Method • Created inverse dynamic models of robot and passive human arm to: • Calculate required torques to move robot and arm. • Build, together with recorded motor torque, metric (in percentage) that represents patient’s contribution to movement. • Evaluated metric with 12 nondisabled subjects and 7 patients with neurological problems.

  4. Results • Compared results with common performance metric. • Estimation shows very satisfying results for both groups, even though arm model was strongly simplified.

  5. Conclusion • Displaying this metric to patients during therapy might motivate them to actively participate in training.

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