TAILIEUCHUNG - Báo cáo khoa hoc:" Self-adaptive robot training of stroke survivors for continuous tracking movements"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành y học dành cho các bạn tham khảo đề tài: Self-adaptive robot training of stroke survivors for continuous tracking movements | Vergaro et al. Journal of NeuroEngineering and Rehabilitation 2010 7 13 http content 7 1 13 l dl JOURNAL OF NEUROENGINEERING NCR AND REHABILITATION RESEARCH Open Access Self-adaptive robot training of stroke survivors for continuous tracking movements p1 cnrd rev1 T i l c ir c r C lii 1 2t t olontino QnI Idri2 Deicbo nioníOíOni3 PiotrC K líOroccr 1 2 4 lindti1 2 4 Elena vergaro Mduid Cdsddio Valentina Squeii rsiciie Giannoni Pietro iviorasso Vittorio sanguineti Abstract Background Although robot therapy Is progressively becoming an accepted method of treatment for stroke survivors few studies have Investigated how to adapt the robot subject Interaction forces In an automatic way. The paper Is a feasibility study of a novel self-adaptive robot controller to be applied with continuous tracking movements. Methods The haptic robot Braccio di Ferro Is used In relation with a tracking task. The proposed control architecture Is based on three main modules 1 a force field generator that combines a non linear attractive field and a viscous field 2 a performance evaluation module 3 an adaptive controller. The first module operates In a continuous time fashion the other two modules operate In an Intermittent way and are triggered at the end of the current block of trials. The controller progressively decreases the gain of the force field within a session but operates in a non monotonic way between sessions it remembers the minimum gain achieved in a session and propagates It to the next one which starts with a block whose gain Is greater than the previous one. The initial assistance gains are chosen according to a minimal assistance strategy. The scheme can also be applied with closed eyes In order to enhance the role of proprioception In learning and control. Results The preliminary results with a small group of patients 10 chronic hemiplegic subjects show that the scheme Is robust and promotes a statistically significant Improvement In performance .

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