Rehabilitation robot cell for multimodal standing-up motion augmentation

Kamnik, R., Bajd, T., Williamson, J. and Murray-Smith, R. (2005) Rehabilitation robot cell for multimodal standing-up motion augmentation. In: IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 18-22 April 2005, pp. 2277-2282. ISBN 078038914X

Abstract

The paper presents a robot cell for multimodal standing-up motion augmentation. The robot cell is aimed at augmenting the standing-up capabilities of impaired or paraplegic subjects. The setup incorporates the rehabilitation robot device, functional electrical stimulation system, measurement instrumentation and cognitive feedback system. For controlling the standing-up process a novel approach was developed integrating the voluntary activity of a person in the control scheme of the rehabilitation robot. The simulation results demonstrate the possibility of “patient-driven” robot-assisted standing-up training. Moreover, to extend the system capabilities, the audio cognitive feedback is aimed to guide the subject throughout rising. For the feedback generation a granular synthesis method is utilized displaying high-dimensional, dynamic data. The principle of operation and example sonification in standing-up are presented. In this manner, by integrating the cognitive feedback and “patient-driven” actuation systems, an effective motion augmentation system is proposed in which the motion coordination is under the voluntary control of the user.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Murray-Smith, Professor Roderick and Williamson, Dr John
• Authors: Kamnik, R., Bajd, T., Williamson, J., and Murray-Smith, R.
• Subjects: T Technology > TJ Mechanical engineering and machinery
• College/School: College of Science and Engineering > School of Computing Science
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• ISBN: 078038914X
• Copyright Holders: Copyright © 2005 Institute of Electrical and Electronics Engineers (IEEE)
• First Published: First published in Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA)
• Publisher Policy: Reproduced in accordance with the copyright policy of the publisher