Intelligent Control Framework for Robotic Rehabilitation after Stroke

Duygun Erol, Nilanjan Sarkar
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper presents a new approach to robot assisted rehabilitation for stroke patients. The control architecture is represented in terms of hybrid system model combining a high-level and a low-level controller. The main focus of this paper is to present an intelligent controller, which is the high-level controller in the control architecture. The high-level controller is designed to monitor the progress and safety of the rehabilitation task. It also makes decisions on the modification of the
more » ... dification of the task that might be needed for the therapy. Experimental results on unimpaired subjects are presented to demonstrate the efficacy of the high-level controller.
doi:10.1109/robot.2007.363154 dblp:conf/icra/ErolS07 fatcat:nfgvxld6afbd3ebaossu3pgkzq