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Assistance Compensation in Arm Rehabilitation
Exoskeleton robots are used to provide neural rehabilitation therapy to patients. Scores like accuracy, speed, or smoothness are used to estimate the performance of the patient continuously and automatically adapt the applied assistance level. The scoring of the patient’s performance should be independent of the applied assistance and the joint configuration of the robot. With the help of patient-robot interaction data from force sensors, this project aims to develop a disturbance model that can be applied to above-mentioned scores.
[1] D.Simonetti, L. Zollo, E. Papaleo, G. Carpino, and E. Guglielmelli, “Multimodal adaptive interfaces for 3d robot-mediated upper limb neuro-rehabilitation: An overview of bio-cooperative systems,”vol. 85, pp. 62 – 72, Nov. 2016
[2] Y. Zimmermann, A. Forino, R. Riener, and M. Hutter, “Anyexo: A versatile and dynamic upper-limb rehabilitation robot,” 2019.
[3] P. Langhorne, J. Bernhardt, and G. Kwakkel, “Stroke rehabilitation” vol. 377 pp. 1693–1702, May 2011
[1] D.Simonetti, L. Zollo, E. Papaleo, G. Carpino, and E. Guglielmelli, “Multimodal adaptive interfaces for 3d robot-mediated upper limb neuro-rehabilitation: An overview of bio-cooperative systems,”vol. 85, pp. 62 – 72, Nov. 2016 [2] Y. Zimmermann, A. Forino, R. Riener, and M. Hutter, “Anyexo: A versatile and dynamic upper-limb rehabilitation robot,” 2019. [3] P. Langhorne, J. Bernhardt, and G. Kwakkel, “Stroke rehabilitation” vol. 377 pp. 1693–1702, May 2011
● Literature research
● Controller Design
● Controller Tuning
● Design in Simulation (Gazebo), deployment on Hardware (ANYexo)
● Literature research ● Controller Design ● Controller Tuning ● Design in Simulation (Gazebo), deployment on Hardware (ANYexo)
You are going to derive a mathematical model that describes the disturbances coming from assistance and joint configuration. You will apply this model to the implemented metrics in a second step. Experiments in simulation and on our exoskeleton ANYexo validate your work and show that the scores are robust to these disturbances.
I am looking for highly motivated, independent students with a background in system modelling and control, who preferably have experience with C++. If you are interested in the project, do not hesitate to contact me.
You are going to derive a mathematical model that describes the disturbances coming from assistance and joint configuration. You will apply this model to the implemented metrics in a second step. Experiments in simulation and on our exoskeleton ANYexo validate your work and show that the scores are robust to these disturbances. I am looking for highly motivated, independent students with a background in system modelling and control, who preferably have experience with C++. If you are interested in the project, do not hesitate to contact me.
● Experience with C++
● Matlab, ROS, Gazebo, RViz is a plus
● Experience with C++ ● Matlab, ROS, Gazebo, RViz is a plus