Adaptable haptic interface for neuro-rehabilitation and assisted physical therapy
Abstract
Technologies and clinical protocols in care of disabilities that reflect motor limitation in the upper limb, establish certain criteria associated with what the patient communicates to the rehabilitation specialist or physiotherapist, as well as what the doctor perceives in the performance of the task, establishing no only one level of subjectivity in diagnosis and limited certainty in treatment. Human-robot physical interaction systems represent a tool that not only allows the establishment of metrics associated with patient performance, but also the self-adjustment of the rehabilitation task based on performance. In this research article, the use of guided haptic interfaces is promoted to induce neurorehabilitation conditions, particularly in patients who have acquired a stroke. It is proposed that the robot-patient task be established by loci defined by a PDMS-2 clinical protocol. Given the required adaptability, given the uncertainty of the patient, an intelligent control that guarantees convergence and stability in a robotic system with the user in the loop, is implemented. Second generation artificial neural networks, wavelet transform and IIR filters, constitute the proposed adaptive control scheme. Two types of haptic interaction schemes are presented, both with visual stimulation to establish hand-eye coordination; haptic scanning and guidance.
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References
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