Personalized Assistance in Robotic Rehabilitation: Real-Time Adaptation via Energy-Based Performance Monitoring
Notice bibliographique
Résumé
Recent studies underscore the importance of the patient’s active contribution and voluntary effort in enhancing therapy outcomes in physical rehabilitation. This paper presents an adaptive control scheme to implement active robotic rehabilitation. The primary goal is to dynamically regulate robotic assistance based on the patient’s performance and individual conditions, encouraging active participation, and effective therapy. To achieve this, a Lyapunov-based adaptive algorithm is developed that dynamically adjusts the admittance parameters by balancing the error and effort minimization. A novel performance index based on human energy input enables real-time identification of the intended human sharing role. This index is used as an adaptive rate in the proposed algorithm to enhance the control system’s dynamic responsiveness to changes in human performance. The proposed approach achieves two main rehabilitation objectives. First, it encourages active and safe human participation. Second, it enhances the therapy by providing personalized assistance, tailored to individual abilities and conditions, and thus reduces the need for therapist intervention. The performance of the proposed approach is illustrated in experimental studies. The results demonstrate the adaptability of the algorithm, ensuring compliant and safe interaction and effective task completion. Note to Practitioners—In a human-robot cooperation (HRC) framework, the automatic adaptation of the robot’s role as well as safe and stable interaction are crucial. These aspects are amplified in the context of robotic rehabilitation due to the special conditions of the human participants. Classic control methods, in shared control, lack system intelligence and automation in role allocation. However, the shared role of humans in HRC, particularly in rehabilitation applications, introduces real-time and unpredictable variations. This study addresses the shortcomings of classic control methods, by integrating intelligence into the control system through an adaptive Neural Network algorithm in shared autonomy. To emulate human-like adaptability, two crucial aspects are considered. Firstly, it incorporates safety assurance embedded in the adaptive algorithm via Lyapunov-based adaptation. Secondly, it detects the human’s role within the control loop through a novel energy-based performance index, which views the human as an active contributor to the system’s dynamic energy flow. This ensures robust behavior by dynamically adjusting the trade-off between task completion and minimal robot intervention. A standout feature of our algorithm lies in its expendability to exoskeleton systems, making it highly versatile for use in robotic rehabilitation and assistive technologies. The algorithm’s design allows for straightforward integration with exoskeletons, requiring only interaction force measurements in the joint space. It facilitates monitoring of a patient’s performance in each joint using the proposed performance index based on the human energy entry into the system. Beyond rehabilitation, the algorithm’s ability to adjust autonomy levels through adaptation makes it applicable to a wide range of Human-Robot Cooperation scenarios where automatic role allocation is necessary. Preliminary experiments underscore the adaptive algorithm’s robust responsiveness to changes in human performance. Future investigations should involve clinical experiments addressing real-life challenges associated with various movement deficiencies and responding to real-time issues that may arise during rehabilitation sessions.
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Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,001 | 0,001 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».