生成モデルによる個別化支援を実現する双モード上肢リハビリ外骨格ロボット
Upper-Limb Rehabilitation with a Dual-Mode Individualized Exoskeleton Robot: A Generative-Model-Based Solution
生成モデルを用いて患者ごとに軌道をオンラインで調整し、能動的ミラーリングと受動的追従の2モードで上肢リハビリ訓練を個別化する外骨格ロボットを開発した。
著者: Yu Chen, Shu Miao, Jing Ye, Gong Chen, Jianghua Cheng, Ketao Du, Xiang Li
分類: cs.RO
原文アブストラクト
Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an upper-limb exoskeleton robot continuously assessing feedback from a stroke patient and then meticulously adjusting interaction forces to suit specific conditions and online changes. This paper describes the development of a new upper-limb exoskeleton robot with a novel online generative capability that allows it to provide individualized assistance to support the rehabilitation training of stroke patients. Specifically, the upper-limb exoskeleton robot exploits generative models to customize the fine and fit trajectory for the patient, as medical conditions, responses, and comfort feedback during training generally differ between patients. This generative capability is integrated into the two working modes of the upper-limb exoskeleton robot: an active mirroring mode for patients who retain motor abilities on one side of the body and a passive following mode for patients who lack motor ability on both sides of the body. The performance of the upper-limb exoskeleton robot was illustrated in experiments involving healthy subjects and stroke patients.
