Optimizing Compliant, Model-Based Robotic Assistance to Promote Neurorehabilitation

@article{Wolbrecht2008OptimizingCM,
  title={Optimizing Compliant, Model-Based Robotic Assistance to Promote Neurorehabilitation},
  author={E. T. Wolbrecht and Vincent Chan and D. J. Reinkensmeyer and J E Bobrow},
  journal={IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  year={2008},
  volume={16},
  pages={286-297}
}
Based on evidence from recent experiments in motor learning and neurorehabilitation, we hypothesize that three desirable features for a controller for robot-aided movement training following stroke are high mechanical compliance, the ability to assist patients in completing desired movements, and the ability to provide only the minimum assistance necessary. This paper presents a novel controller that successfully exhibits these characteristics. The controller uses a standard model-based… CONTINUE READING
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