Characterizing the human-robot haptic dyad in robot therapy of stroke survivors. Issue 3 (5th August 2014)

• Record Type: Journal Article
• Authors: Guilherme N. DeSouza, Dr; De Santis, Dalia; Zenzeri, Jacopo; Casadio, Maura; Masia, Lorenzo; Squeri, Valentina; Morasso, Pietro
• Is Part Of: International journal of intelligent computing and cybernetics. Volume 7:Issue 3(2014)
• Page Start: 267
• Page End: 288
• Publication Date: 2014-08-05
• Subjects: Artificial intelligence -- Periodicals; Cybernetics -- Periodicals; 006.3
• DOI: 10.1108/IJICC-10-2013-0046
• Languages: English
• ISSNs: 1756-378X

Abstract

<abstract> <title> <x content-type="archive" xml:space="preserve">Abstract</x> </title> <sec> <title content-type="abstract-heading">Purpose</title> <p> – The working hypothesis, on which this paper is built, is that it is advantageous to look at protocols of robot rehabilitation in the general context of human-robot interaction in haptic dyads. The purpose of this paper is to propose a new method to detect and evaluate an index of active participation (<italic>AC</italic> index), underlying the performance of robot-assisted movements. This is important for avoiding the slacking phenomenon that affects robot therapy. </p> </sec> <sec> <title content-type="abstract-heading">Design/methodology/approach</title> <p> – The evaluation of the <italic>AC</italic> index is based on a novel technique of assistance which does not use constant or elastic forces but trains of small force impulses, with amplitude adapted to the level of impairment and a frequency of 2 Hz, which is suggested by recent results in the field of intermittent motor control. A preliminary feasibility test of the proposed method was carried out during a haptic reaching task in the absence of visual feedback, for a group of five stroke patients and an equal group of healthy subjects. </p> </sec> <sec> <title content-type="abstract-heading">Findings</title> <p> – The <italic>AC</italic> index appears to be stable and sensitive to training in both populations of subjects. </p> </sec> <sec> <title content-type="abstract-heading">Originality/value</title> <p> – The main original element of this study is the proposal of the new <italic>AC</italic> index of voluntary control associated with the new method of pulsed haptic interaction.</p> </sec> </abstract>