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dc.contributor.authorPehlivan, Ali Utku
Losey, Dylan P.
Rose, Chad G.
O’Malley, Marcia K.
dc.date.accessioned 2018-07-03T16:08:35Z
dc.date.available 2018-07-03T16:08:35Z
dc.date.issued 2017
dc.identifier.citation Pehlivan, Ali Utku, Losey, Dylan P., Rose, Chad G., et al.. "Maintaining subject engagement during robotic rehabilitation with a minimal assist-as-needed (mAAN) controller." 2017 International Conference on Rehabilitation Robotics (ICORR), (2017) IEEE: 62-67. https://doi.org/10.1109/ICORR.2017.8009222.
dc.identifier.urihttps://hdl.handle.net/1911/102339
dc.description.abstract One challenge of robotic rehabilitation interventions is devising ways to encourage and maintain high levels of subject involvement over long duration therapy sessions. Assist-as-needed controllers have been proposed which modulate robot intervention in movements based on measurements of subject involvement. This paper presents a minimal assist-as-needed controller, which modulates allowable error bounds and robot intervention based on sensorless force measurement accomplished through a nonlinear disturbance observer. While similar algorithms have been validated using healthy subjects, this paper presents a validation of the proposed mAAN control algorithm's ability to encourage user involvement with an impaired individual. User involvement is inferred from muscle activation, measured via surface electromyography (EMG). Experimental validation shows increased EMG muscle activation when using the proposed mAAN algorithm compared to non-adaptive algorithms.
dc.language.iso eng
dc.publisher IEEE
dc.rights This is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
dc.title Maintaining subject engagement during robotic rehabilitation with a minimal assist-as-needed (mAAN) controller
dc.type Journal article
dc.citation.journalTitle 2017 International Conference on Rehabilitation Robotics (ICORR)
dc.type.dcmi Text
dc.identifier.doihttps://doi.org/10.1109/ICORR.2017.8009222
dc.identifier.pmid 28813794
dc.type.publication post-print
dc.citation.firstpage 62
dc.citation.lastpage 67


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