Dynamic Adaptive System for Robot-Assisted Motion Rehabilitation

Abstract

This paper presents a dynamic adaptive system for administration of robot-assisted therapy. The main novelty of the proposed approach is to close patient in the loop and use multisensory data (such as motion, forces, voice, muscle activity, heart rate, and skin conductance) to adaptively and dynamically change the complexity of the therapy and real-time displays of an immersive virtual reality system in accordance with specific patient requirements. The proposed rehabilitation system can be considered as a complex system that is composed of the following subsystems: data acquisition, multimodal human–machine interface, and adaptable control system. This paper shows the description of the developed fuzzy controller used as the core of the adaptable control subsystem. Finally, experimental results with ten subjects are reported to show the performance of the proposed solution.