Adaptive oscillators with human-in-the-loop: Proof of concept for assistance and rehabilitation

2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Volumn , Issue , 2010, Pages 668-674

  Ronsse, Renaud ^a   Vitiello, Nicola ^b   Lenzi, Tommaso ^b   Van Den Kieboom, Jesse ^a   Carrozza, Maria Chiara ^b   Ijspeert, Auke Jan ^a  

^a EPFL   (Switzerland)

^b SCUOLA SUPERIORE SANT ANNA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

HIGH-LEVEL FEATURES; HUMAN-IN-THE-LOOP; INVERSE MODELS; MATHEMATICAL PRIMITIVE; MOVEMENT DISORDERS; PROOF OF CONCEPT; REFERENCE TRAJECTORIES; RHYTHMIC MOVEMENTS; SIMULATION RESULT; SINUSOIDAL SIGNALS;

ROBOTICS;

ROBOTS;

EID: 78650402443     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2010.5628021     Document Type: Conference Paper

References (25)

1. S. Hesse, H. Schmidt, C. Werner, and A. Bardeleben, "Upper and lower extremity robotic devices for rehabilitation and for studying motor control." Curr Opin Neurol, vol. 16, no. 6, pp. 705-710, Dec 2003. [Online]. Available: http://dx.doi.org/10.1097/01.wco.0000102630.16692.38.
2. A. Dollar and H. Herr, "Lower extremity exoskeletons and active orthoses: Challenges and state-of-the-art, " Robotics, IEEE Transactions on, vol. 24, no. 1, pp. 144-158, Feb. 2008.
3. D. P. Ferris, "The exoskeletons are here." J Neuroeng Rehabil, vol. 6, p. 17, 2009. [Online]. Available: http://dx.doi.org/10.1186/1743-0003-6- 17.
4. E. T. Wolbrecht, V. Chan, D. J. Reinkensmeyer, and J. E. Bobrow, "Optimizing compliant, model-based robotic assistance to promote neurorehabilitation." IEEE Trans Neural Syst Rehabil Eng, vol. 16, no. 3, pp. 286-297, Jun 2008. [Online]. Availablehttp://dx.doi.org/10.1109/TNSRE.2008. 918389.
5. H. Vallery, E. H. F. van Asseldonk, M. Buss, and H. van der Kooij, "Reference trajectory generation for rehabilitation robots: complementary limb motion estimation." IEEE Trans Neural Syst Rehabil Eng, vol. 17, no. 1, pp. 23-30, Feb 2009. [Online]. Available: http://dx.doi.org/10.1109/TNSRE. 2008.2008278.
6. G. Colombo, M. Wirz, and V. Dietz, "Driven gait orthosis for improvement of locomotor training in paraplegic patients." Spinal Cord, vol. 39, no. 5, pp. 252-255, May 2001. [Online]. Available: http://dx.doi.org/ 10.1038/sj.sc.3101154.
7. K. P. Westlake and C. Patten, "Pilot study of lokomat versus manual-assisted treadmill training for locomotor recovery poststroke." J Neuroeng Rehabil, vol. 6, p. 18, 2009. [Online]. Available: http://dx.doi.org/ 10.1186/1743-0003-6-18.
8. R. A. Scheidt, J. B. Dingwell, and F. A. Mussa-Ivaldi, "Learning to move amid uncertainty, " J Neurophysiol, vol. 86, no. 2, pp. 971-985, Aug 2001.
9. R. Riener, L. Lünenburger, S. Jezernik, M. Anderschitz, G. Colombo, and V. Dietz, "Patient-cooperative strategies for robot-aided treadmill training: first experimental results." IEEE Trans Neural Syst Rehabil Eng, vol. 13, no. 3, pp. 380-394, Sep 2005. [Online]. Available: http://dx.doi.org/ 10.1109/TNSRE.2005.848628.
10. E. H. F. Van Asseldonk, R. Ekkelenkamp, J. F. Veneman, F. C. T. Van der Helm, and H. van der Kooij, "Selective control of a subtask of walking in a robotic gait trainer(lopes), " in Proc. IEEE 10th International Conference on Rehabilitation Robotics ICORR 2007, Jun. 13-15, 2007, pp. 841-848.
11. Y. Sankai, "Leading edge of cybernics: Robot suit hal, " in Proc. International Joint Conference SICE-ICASE, Oct. 2006, pp. P-1-P-2.
12. E. Guizzo and H. Goldstein, "The rise of the body bots, " IEEE Spectrum, vol. 42, no. 10, pp. 50-56, Oct. 2005.
13. L. Righetti, J. Buchli, and A. J. Ijspeert, "Dynamic hebbian learning in adaptive frequency oscillators, " Physica D, vol. 216, pp. 269-281, 2006.
14. J. Buchli, L. Righetti, and A. J. Ijspeert, "Frequency analysis with coupled nonlinear oscillators, " Physica D, vol. 237, pp. 1705-1718, 2008.
15. L. Righetti, J. Buchli, and A. J. Ijspeert, "Adaptive frequency oscillators and applications, " The Open Cybernetics and Systemics Journal, vol. 3, pp. 64-69, 2009.
16. A. Frigon and S. Rossignol, "Experiments and models of sensorimotor interactions during locomotion, " Biol Cybern, vol. 95, no. 6, pp. 607-627, 2006.
17. L. Righetti and A. J. Ijspeert, "Programmable central pattern generators: an application to biped locomotion control, " in Proc. IEEE International Conference on Robotics and Automation ICRA 2006, May 15-19, 2006, pp. 1585-1590.
18. A. Gams, A. J. Ijspeert, S. Schaal, and J. Lenarčič, "On-line learning and modulation of periodic movements with nonlinear dynamical systems, " Auton Robot, vol. 27, pp. 3-23, 2009.
19. S. Schaal, D. Sternad, R. Osu, and M. Kawato, "Rhythmic arm movement is not discrete, " Nat Neurosci, vol. 7, no. 10, pp. 1136-1143, 2004.
20. E. P. Zehr and J. Duysens, "Regulation of arm and leg movement during human locomotion." Neuroscientist, vol. 10, no. 4, pp. 347-361, Aug 2004. [Online]. Available: http://dx.doi.org/10.1177/1073858404264680.
21. O. White, Y. Bleyenheuft, R. Ronsse, A. M. Smith, J.-L. Thonnard, and P. Lefèvre, "Altered gravity highlights central pattern generator mechanisms." J Neurophysiol, vol. 100, no. 5, pp. 2819-2824, Nov 2008. [Online]. Available: http://dx.doi.org/10.1152/jn.90436.2008.
22. R. Ronsse, D. Sternad, and P. Lefèvre, "A computational model for rhythmic and discrete movements in uni- and bimanual coordination." Neural Comput, vol. 21, no. 5, pp. 1335-1370, May 2009. [Online]. Available: http://dx.doi.org/10.1162/neco.2008.03-08-720.
23. T. Lenzi, S. De Rossi, N. Vitiello, A. Chiri, S. Roccella, F. Giovacchini, F. Vecchi, and M. C. Carrozza, "The neuro-robotics paradigm: NEURARM, NEUROExos, HANDEXOS, " in Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society EMBC 2009, Sep. 3-6, 2009, pp. 2430-2433.
24. G. A. Pratt and M. M. Williamson, "Series elastic actuators, " in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', vol. 1, Aug. 5-9, 1995, pp. 399-406.
25. R. Ronsse, K. Wei, and D. Sternad, "Optimal control of a hybrid rhythmic-discrete task: the bouncing ball revisited." J Neurophysiol, vol. 103, no. 5, pp. 2482-2493, May 2010. [Online]. Available: http://dx.doi.org/10. 1152/jn.00600.2009.