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

• Record Type: Journal Article
• Authors: De Santis, Dalia; Zenzeri, Jacopo; Casadio, Maura; Masia, Lorenzo; Squeri, Valentina; Morasso, Pietro
• Editors: Guilherme N. DeSouza, Dr
• 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: Human-robot haptic interaction -- Robot therapy -- Stroke survivors; Artificial intelligence -- Periodicals; Cybernetics -- Periodicals; 006.3
• DOI: 10.1108/IJICC-10-2013-0046
• Languages: English
• ISSNs: 1756-378X

Abstract

Abstract : Purpose: – 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 ( AC index), underlying the performance of robot-assisted movements. This is important for avoiding the slacking phenomenon that affects robot therapy. Design/methodology/approach: – The evaluation of the AC 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. Findings: – The AC index appears to be stable and sensitive to training in both populations of subjects. Originality/value: – The main original element of this study is the proposal of the new AC index of voluntary control associated with the new method of pulsed haptic interaction.