Anticipatory assistance-as-needed control algorithm for a multijoint upper limb robotic orthosis in physical neurorehabilitation

作者：

Highlights：

• We propose a new anticipatory assistance-as-needed robotic control algorithm.

• The control algorithm adapts its behavior to the patient dysfunctional profile.

• The algorithm anticipates to trajectory deviations to encourage neural plasticity.

• We validated the proposed algorithm throughout a robotic simulator.

摘要

•We propose a new anticipatory assistance-as-needed robotic control algorithm.•The control algorithm adapts its behavior to the patient dysfunctional profile.•The algorithm anticipates to trajectory deviations to encourage neural plasticity.•We validated the proposed algorithm throughout a robotic simulator.

论文关键词：Neurorehabilitation,Acquired Brain Injury,Assistance-as-needed,Rehabilitation robotics,Robotic simulation,ABI,Aquired Brain Injury,ADL,Activity of the Daily Life,BCI,Brain Computer Interface,C,Pearson Correlation Coefficient,DH,DenavitHartenberg,DoF,Degree of Freedom,EMG,Electromyography,IK,Inverse Kinematics,MLP,Multilayer Perceptron,RMSE,Root Mean Squared Error,TBI,Traumatic Brain Injury,WHO,World Health Organization

论文评审过程：Available online 27 December 2013.

论文官网地址：https://doi.org/10.1016/j.eswa.2013.11.047