Abracadabra professional
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Transcript of Abracadabra professional
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Abracadabra
Robotics Friend For Physiotherapy After Stroke
Dr. Marina Fridin, CTO
May I help you?
You? Really?
Engineering Conference, Novel Technology for people with special needs,
Ruppin Academic Center, 2014
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Definition of Stroke
• Sudden brain damage• Lack of blood flow to the brain caused by a
clot or rupture of a blood vessel
Ischemic = Clot (makes up approximately 87% of all strokes)
Hemorrhagic = Bleed- Bleeding around brain- Bleeding into brain
Embolic Thrombotic
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Social Assistive Robotics (SAR), scientific concept
- SAR is the class of robots that provide various types of assistance to various vulnerable populations primarily through social, rather than physical interaction.
• POPULATIONS:–Elderly:
• Post- stroke rehabilitation, Matarić, et al., 2007• Alzheimer’s disease , Tapus et..al. ,2009• Hospital delivery robot, Mutlu & Forlizzi ,2008• Nursing home residents , Wada et.al. , 2004
–Children, mainly for children with autism spectrum disorders (ASD)
• Scassellati, et al. 2007. • Robins, et al., 2005.
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Factors that influence recovery following a stroke
Abracadabra can not influence
Abracadabra could influence
• Time passed before medical intervention is initiated
• What part of the brain was affected• The size of the area affected
• The patient’s age• The patient’s fitness level before the
stroke• Patient’s premorbid cognitive level
• Additional medical problems
•Patient’s emotional state/motivation level
•Family support•Environmental and social influences•Time passed since stroke occurred
•Amount of therapy received (especially in the first 12 months)
! Each stroke is different therefore it is difficult to predict the amount of recovery that will occur in the affected side.
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Principles of design Stroke Rehabilitation Procedure of Abracadabra
Interdisciplinary Team participate in the design and implementation of the system
Uses Learning Theory:– Graded Levels of Task Difficulty– Opportunities for Repetition of Skill
Performance– Professional Supervision and Feedback– “Protected Practice”
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Examples of Stroke Rehabilitation Interventions ABRACADABRA could participate
Functional Skills Training−Personal Care Skills−Mobility Activities−Instrumental Activities of Daily Living
Therapeutic Exercises−Flexibility−Strength−Coordination−Fitness
Visual fields – treatment−Increase awareness−Compensatory oculomotor strategies−Audio-visual stimulation−Compensatory head movement−Reading and writing
Speech therapy−Communication/language −Speech−Voice Quality−Fluency (stuttering)−Cognition/neglect−Swallowing
Cognition −Orientation (who, when, where, why)−Attention−Memory (usually with immediate or short term memory)−Problem solving−Reasoning−Insight/safety awareness
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The system
• 2 versions of the robot: fully functional and restricted
• Virtual version of the robot• Connected Devices, including sensory
system for colleting of the patient data (motor/cognitive performances etc.)
• Connections to the therapeutically devices (including Virtual Reality and computer games)
• Computer-based system for rehabilitation team ( including reports of patient progress, definition of the tasks ect.)
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Abracadabra for different Rehabilitation Services
The robot with full functionality:Rehabilitation unit in the hospital
Home with outpatient therapy
Long-term care facility
Community-based programs
Restricted version of the robot or it’s virtual
agentHome-bound therapy (tele-medicine)
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Hello Darling, how are you today?
I can not get it? Could you move it
more forward for me?
Motor Actions: Example
Hello Robot!
Patient Personal Information
Task DefinitionRobot Activation
I am so parched, could you please
give a cup of water?
Report Next Task
Emotional StatusPerformance
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Motor learning approach
- Based on the principles of
•Repetition
•Adaptation
•Appropriate feedback
•Random practice and
•Enriched environment
Particularly adjusted to the learning stage and task component
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Skill acquisitionThe patient: Who? The task: What? The context: Where?
AgeExperienceMotivationMemoryAbility
Discrete/Serial/Cont.Closed/OpenGross/FineAccuracy kindProgram/Plan
ClinicalHomePresence of othersTask variability
Stage of learning
Preparation Presentation Structure
GoalsTransferContextPerformance measures
InstructionsDemonstrationGuidanceSimulatorsPart practiceMental practice
Random/Blocked
Random/Varied
Massed/Distributed
Feedback
KR/KP
Descript./Prescript
Type of feedback
Amount
Frequency
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ABRACADABRA
Body Structure & Functions
Activity Participation
EnvironmentalFactors
PersonalFactors
Therapist AbracadabraHealth condition (disorder or disease)
Hands on
Conceptual Interference
Environment Taxonomy
Learning Algorithm
Hands off
Human-Robot Interaction
Motor GamesMotor Actions
Adaptation to personality, mood and motor performance
Motivation: feedback, mirroring effectTeam
Decomposition
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The scheme of the ABRACADABRA modules and data flow
Low-level Perception• Kinect: Motion processing • Robot’s Video: High color saturation filters Skin-color filters Edge detection Disparity computation• Robot’s Sensors: Data filtering
Motor module• Visual-motor skills • Manipulation skills (reaching/ grasping)• Expressive skills (bodily/facial/vocalizations)
Attention module• Attention on a child with fastest/slowest reactions • Attention on a child defined by physiotherapist
Motivation module• Positive-negative reinforcement• Qualitive and quantative feedback• Empathy and mirroring effect
Behavior module• Behavior selection • Decomposition to the set of operations: body movements, operational vocabulary, sounds, emotional expressions
High-level Perception• Visual: Scene analysis and segmentation Face and eye detection Whole body labeling Subjects identification Gaze direction Emotional Recognition• Kinect: Extremities movement analysis• Sensory Data fusion
Adaptation module• Adjustment to the stage of motor learning• Mood and current success level• Personality matching: hyperactive/passive
Information analysis module• Subject’s motor behavior analysis• Subject’s cognitive behavior analysis• Monitoring of the level of interaction strength• Recognition of subjects attention state
Input• Robot: Sensors data, including Scene video• Kinect: Movement tracking• Physiotherapist: Settings Personal and Anthropometric data Functional (pathological) restrictions Tasks difficulty Session scenario components
Safety module• Avoid children in robot’s working space
Database
Self-awareness module• Error detection/Success measuring Locomotion, Falling, Manipulation• Robot localization
Personal InformationPathology characteristics: GMFCS, Altered side, Assistive deviceMotor functions : Time of sit-stand initiation, Symmetry of holding arms Child-Robot Interaction Measurements: Emotional status, ResponsivenessEnvironment: Place, # participants
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Conclusions
● Every person is different and no one can be sure how quickly or how far you or your family member will progress.
● Rehab is often a long process.
● Complete recovery is not always possible, however, living an enjoyable life is still within reach.
● ABRACADABRA is feasible and promising , a new research area of social assistive technology with immeasurable potential
● Assistive robotic platforms can be used in the near future in hospitals and homes, in training and therapeutic programs that monitor, encourage, and assist their users
● ABRACADABRA may stimulate the development of new treatments for a wide variety of diseases and disorders through effective physiotherapy practice