2009
DOI: 10.1109/tro.2009.2019781
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Intrinsic Constraints of Neural Origin: Assessment and Application to Rehabilitation Robotics

Abstract: Ideally, robots used for motor rehabilitation, in particular, during assessment, should minimally perturb the voluntary movements of a subject. In this paper, we show how a state-of-theart back-drivable robot, i.e., a robot that can be moved by the user with a low perceived mechanical impedance, when used for assessment can still perturb the voluntary movements of a subject. In particular, we show that, despite its low mechanical impedance, a robot may still not comply with the intrinsic kinematic constraints,… Show more

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Cited by 46 publications
(55 citation statements)
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References 27 publications
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“…Anyway, absolute values of thickness remain in the range of physiological values (1 to 3 degrees [6], [10]), demonstrating that Donders' law still applies during the adaptation and washout processes. Nevertheless, the increasing of thickness with respect to baseline values show that the adaptation to an external perturbation during a redundant task increase the "biological noise" associated to this kind of motor strategy [12], [13].…”
Section: Resultsmentioning
confidence: 96%
See 1 more Smart Citation
“…Anyway, absolute values of thickness remain in the range of physiological values (1 to 3 degrees [6], [10]), demonstrating that Donders' law still applies during the adaptation and washout processes. Nevertheless, the increasing of thickness with respect to baseline values show that the adaptation to an external perturbation during a redundant task increase the "biological noise" associated to this kind of motor strategy [12], [13].…”
Section: Resultsmentioning
confidence: 96%
“…Here, we propose an experimental setup and protocol to address these issues. In particular we will assess motor learning during adaptation, analyzing the kinematics indices proposed by [11] and the motor strategies studied in [6], [12]- [13].…”
Section: Introductionmentioning
confidence: 99%
“…3. Actuators should be highly compliant with low mechanical impedance [10,17] in order to accommodate abrupt forces arising from clonus. The relationship between moment applied by the robotic orthosis and the joint angle is generally known as "mechanical impedance".…”
Section: Design Requirementsmentioning
confidence: 99%
“…It was shown that excessive perceived mechanical impedance would alter motor strategies adopted by the brain during redundant tasks *This study was partially funded by the New Funding Initiative 2010 (NTU) and the Academic Research Fund (AcRF) Tier1 (RG 50/11), Ministry of Education, Singapore M. Esmaeili performed with a robot [4], despite the backdriveability of the robot itself.…”
Section: Introductionmentioning
confidence: 99%
“…those of a neural origin, should be considered alongside the more traditional "hard" (biomechanical) constraints. Building on the works [4], [5], this paper presents a preliminary study on motor strategy adaptation. These adaptations arise during kinematically redundant motor tasks while the subject wears exoskeletons of varying ergonomic levels.…”
Section: Introductionmentioning
confidence: 99%