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Iterative Assistance as Needed for Arm Rehabilitation
Exoskeleton robots are used to provide neural rehabilitation therapy to patients. Physical, torque-controlled assistance methods such as gravity compensation, tunnel controller or initial kick help the patient to train specific movement patterns. Combining these methods in an iterative weak-to-strong scheme has not yet been researched in-depth. This project aims to develop a controller to iteratively adapt the type and amount of assistance, and to find generalizable tuning policies for the coupled system.
[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 design and tune an iAaN controller. The novel modular therapy framework written in C++ will be used to implement and validate your controller. Experiments in simulation and on our exoskeleton ANYexo show that your tuned system is asymptotically stable for different sets of assistance methods and patient movements. 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 design and tune an iAaN controller. The novel modular therapy framework written in C++ will be used to implement and validate your controller. Experiments in simulation and on our exoskeleton ANYexo show that your tuned system is asymptotically stable for different sets of assistance methods and patient movements. 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