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Intelligent Control for Robotic Rehabilitation after Stroke

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Abstract

The paper presents a new control approach to robot-assisted rehabilitation for stroke patients. The control architecture is represented in terms of a hybrid system model combining a high-level and a low-level assistive controller. The high-level controller is designed to monitor the progress and safety of the rehabilitation task. The high-level controller also makes decisions on the modification of the task that might be needed for the therapy. A design of a low-level assistive controller that provides robotic assistance for an upper arm rehabilitation task and works in coordination with the proposed high-level controller is discussed. Experimental results on unimpaired participants are presented to demonstrate the efficacy of both the high-level and low-level assistive controllers.

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Authors and Affiliations

  1. Robotics and Autonomous Systems Laboratory, Department of Electrical Engineering and Computer Science, Vanderbilt University, Nashville, TN, 37235, USA

    Duygun Erol

  2. Robotics and Autonomous Systems Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235, USA

    Nilanjan Sarkar

Authors
  1. Duygun Erol
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  2. Nilanjan Sarkar
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Correspondence to Duygun Erol.

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Erol, D., Sarkar, N. Intelligent Control for Robotic Rehabilitation after Stroke. J Intell Robot Syst 50, 341–360 (2007). https://doi.org/10.1007/s10846-007-9169-2

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  • DOI: https://doi.org/10.1007/s10846-007-9169-2

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