PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Rehabilitation Robot Cell for Multimodal Standing-Up Motion Augmentation
R Kamnik, T bajd, John Williamson and Roderick Murray-Smith
In: International Conference on Robotics and Automation (ICRA 2005), Barcelona, 2005, Barcelona.

Abstract

The paper presents a robot cell for multimodal standing-up motion augmentation. The robot cell is aimed at augmenting the standing-up capabilities of impaired or paraplegic subjects. The setup incorporates the rehabilitation robot device, functional electrical stimulation system, measurement instrumentation and cognitive feedback system. For controlling the standing-up process a novel approach was developed integrating the voluntary activity of a person in the control scheme of the rehabilitation robot. The simulation results demonstrate the possibility of “patient-driven” robotassisted standing-up training. Moreover, to extend the system capabilities, the audio cognitive feedback is aimed to guide the subject throughout rising. For the feedback generation a granular synthesis method is utilized displaying highdimensional, dynamic data. The principle of operation and example sonification in standing-up are presented. In this manner, by integrating the cognitive feedback and “patientdriven” actuation systems, an effective motion augmentation system is proposed in which the motion coordination is under the voluntary control of the user. Index Terms—Rehabilitation robotics, standing-up, voluntary control, audio cognitive feedback, granular synthesis.

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EPrint Type:Conference or Workshop Item (Paper)
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Computational, Information-Theoretic Learning with Statistics
User Modelling for Computer Human Interaction
Learning/Statistics & Optimisation
Multimodal Integration
Haptics
ID Code:1280
Deposited By:Roderick Murray-Smith
Deposited On:28 November 2005