A task description model for robotic rehabilitation

Carmichael, MG; Liu, D

A task description model for robotic rehabilitation

Carmichael, MG

Liu, D

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2012, pp. 3086 - 3089
Issue Date:: 2012-12-14

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Field	Value	Language
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2012-12-14	en_US
dc.identifier.citation	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2012, pp. 3086 - 3089	en_US
dc.identifier.isbn	9781424441198	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/22392
dc.description.abstract	The desire to produce robots to aid in physical neurorehabilitation has led to the control paradigm Assistance-As-Needed. This paradigm aims to assist patients in performing physical rehabilitation tasks whilst providing the least amount of assistance required, maximizing the patient's effort which is essential for recovery. Ideally the provided assistance equals the gap between the capability required to perform the task and the patient's available capability. Current implementations derive a measure of this gap by critiquing task performance based on some criteria. This paper presents a task description model for tasks performed by a patient's limb, allowing physical requirements to be calculated. Applied to two upper limb tasks typical of rehabilitation and daily activities, the effect of task variations on the task's physical requirements are observed. It is proposed that using the task description model to compensate for changing task requirements will allow better support by providing assistance closer to the true needs of the patient. © 2012 IEEE.	en_US
dc.relation.ispartof	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS	en_US
dc.relation.isbasedon	10.1109/EMBC.2012.6346616	en_US
dc.subject.mesh	Upper Extremity	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Robotics	en_US
dc.subject.mesh	Models, Theoretical	en_US
dc.title	A task description model for robotic rehabilitation	en_US
dc.type	Conference Proceeding
utslib.for	090305 Rehabilitation Engineering	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
dc.location.activity	San Diego	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

The desire to produce robots to aid in physical neurorehabilitation has led to the control paradigm Assistance-As-Needed. This paradigm aims to assist patients in performing physical rehabilitation tasks whilst providing the least amount of assistance required, maximizing the patient's effort which is essential for recovery. Ideally the provided assistance equals the gap between the capability required to perform the task and the patient's available capability. Current implementations derive a measure of this gap by critiquing task performance based on some criteria. This paper presents a task description model for tasks performed by a patient's limb, allowing physical requirements to be calculated. Applied to two upper limb tasks typical of rehabilitation and daily activities, the effect of task variations on the task's physical requirements are observed. It is proposed that using the task description model to compensate for changing task requirements will allow better support by providing assistance closer to the true needs of the patient. © 2012 IEEE.

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http://hdl.handle.net/10453/22392