Estimating the patient’s contribution during robot-assisted therapy

This article and any supplementary material should be cited as follows: Guidali M, Keller U, Klamroth-Marganska V, Nef T, Riener R. Estimating the patient’s contribution during robot-assisted therapy. J Rehabil Res Dev. 2013;50(3):379–94. http://dx.doi.org/10.1682/JRRD.2011.09.0172

Slideshow ProjectDOI:10.1682/JRRD.2011.09.0172JSP

Estimating the patient’s contribution during robot-assisted therapy

Marco Guidali, PhD; Urs Keller, MSc; Verena Klamroth-Marganska, MD; Tobias Nef, PhD; Robert Riener, PhD



• Aim– Develop methods to quantify patient’s contribution

during robot-assisted therapy by combining kinematic measures and the motor assistance applied.

• Relevance– Assistive robots with sophisticated controllers are

used in neurorehabilitation to assist and cooperate with the patient during therapy.

– Difficult for patient to judge to what extent robot contributes to execution of movement.



Method

• Created inverse dynamic models of robot and passive human arm to:– Calculate required torques to move robot and

arm.– Build, together with recorded motor torque,

metric (in percentage) that represents patient’s contribution to movement.

• Evaluated metric with 12 nondisabled subjects and 7 patients with neurological problems.



Results

• Compared results with common performance metric.

• Estimation shows very satisfying results for both groups, even though arm model was strongly simplified.



Conclusion

• Displaying this metric to patients during therapy might motivate them to actively participate in training.

Estimating the patient’s contribution during robot-assisted therapy

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