Experimental evaluation of a model-based assistance-as-needed paradigm using an assistive robot

Carmichael, MG; Liu, D

Experimental evaluation of a model-based assistance-as-needed paradigm using an assistive robot

Carmichael, MG

Liu, D

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2013, pp. 866 - 869
Issue Date:: 2013-01-01

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Field	Value	Language
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2013-01-01	en_US
dc.identifier.citation	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2013, pp. 866 - 869	en_US
dc.identifier.isbn	9781457702167	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/27583
dc.description.abstract	In robotic rehabilitation a promising paradigm is assistance-as-needed. This is because it promotes patient active participation which is essential for neuro-rehabilitation. A model-based assistance-as-needed paradigm has been developed which utilizes a musculoskeletal model representing the subject to calculate their assistance needs. In this paper we experimentally evaluate this model-based paradigm to control an assistive robot and provide a subject with assistance-as-needed at the muscular level. A subject with impairments defined in specific muscle groups performs a number of upper limb tasks, whilst receiving assistance from a robotic exoskeleton. The paradigm is evaluated on its ability to provide assistance only as the subject needs, depending on the tasks being performed and the impairments defined. Results show that the model-based assistance-as-needed paradigm was relatively successful in providing assistance when it was needed. © 2013 IEEE.	en_US
dc.relation.ispartof	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS	en_US
dc.relation.isbasedon	10.1109/EMBC.2013.6609638	en_US
dc.subject.mesh	Muscles	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Electromyography	en_US
dc.subject.mesh	Task Performance and Analysis	en_US
dc.subject.mesh	Robotics	en_US
dc.subject.mesh	Algorithms	en_US
dc.subject.mesh	Models, Theoretical	en_US
dc.title	Experimental evaluation of a model-based assistance-as-needed paradigm using an assistive robot	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Osaka, Japan	en_US
dc.location.activity	United States
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

In robotic rehabilitation a promising paradigm is assistance-as-needed. This is because it promotes patient active participation which is essential for neuro-rehabilitation. A model-based assistance-as-needed paradigm has been developed which utilizes a musculoskeletal model representing the subject to calculate their assistance needs. In this paper we experimentally evaluate this model-based paradigm to control an assistive robot and provide a subject with assistance-as-needed at the muscular level. A subject with impairments defined in specific muscle groups performs a number of upper limb tasks, whilst receiving assistance from a robotic exoskeleton. The paradigm is evaluated on its ability to provide assistance only as the subject needs, depending on the tasks being performed and the impairments defined. Results show that the model-based assistance-as-needed paradigm was relatively successful in providing assistance when it was needed. © 2013 IEEE.

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http://hdl.handle.net/10453/27583