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Upper‑limb kinematic reconstruction during stroke robot‑aided therapy


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Título :
Upper‑limb kinematic reconstruction during stroke robot‑aided therapy
Autor :
Badesa, Francisco Javier
García Aracil, Nicolás
Morales, Ricardo
Zollo, Loredana
Papaleo, Eugenia
Sterzi, S.
Mazzoleni, S.
Guglielmelli, Eugenio
Editor :
Springer
Departamento:
Departamentos de la UMH::Ingeniería de Sistemas y Automática
Fecha de publicación:
2015
URI :
https://hdl.handle.net/11000/31249
Resumen :
The paper proposes a novel method for an accurate and unobtrusive reconstruction of the upper-limb kinematics of stroke patients during robot-aided rehabilitation tasks with end-effector machines. The method is based on a robust analytic procedure for inverse kinematics that simply uses, in addition to hand pose data provided by the robot, upper arm acceleration measurements for computing a constraint on elbow position; it is exploited for task space augmentation. The proposed method can enable in-depth comprehension of planning strategy of stroke patients in the joint space and, consequently, allow developing therapies tailored for their residual motor capabilities. The experimental validation has a twofold purpose: (1) a comparative analysis with an optoelectronic motion capturing system is used to assess the method capability to reconstruct joint motion; (2) the application of the method to healthy and stroke subjects during circle-drawing taskswith InMotion2 robot is used to evaluate its efficacy in discriminating stroke from healthy behavior. The experimental results have shown that arm angles are reconstructed with a RMSE of 8.3 × 10−3 rad. Moreover, the comparison between healthy and stroke subjects has revealed different features in the joint space in terms of mean values and standard deviations, which also allow assessing interand intra-subject variability. The findings of this study contribute to the investigation of motor performance in the joint space and Cartesian space of stroke patients undergoing robot-aided therapy, thus allowing: (1) evaluating the outcomes of the therapeutic approach, (2) re-planning the robotic treatment based on patient needs, and (3) understanding pathology-related motor strategies.
Palabras clave/Materias:
Upper-limb kinematics
Rehabilitation robotics
Stroke rehabilitation
Área de conocimiento :
CDU: Generalidades.: Ciencia y tecnología de los ordenadores. Informática.
Tipo documento :
application/pdf
Derechos de acceso:
info:eu-repo/semantics/closedAccess
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
DOI :
https://doi.org/10.1007/s11517-015-1276-9
Aparece en las colecciones:
Artículos Ingeniería de Sistemas y Automática



Creative Commons La licencia se describe como: Atribución-NonComercial-NoDerivada 4.0 Internacional.