Progress based assist-as-needed control strategy for upper-limb rehabilitation
Assist-as-Needed (AAN) strategy is one strategy of administering robotic assistance which has gained wide acceptance in recent time and has been clinically demonstrated to provoke motor recovery in neurologically impaired patients. The underlying principle in this scheme is to provide assistance...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English |
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Institute of Electrical and Electronics Engineers Inc.
2018
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| Online Access: | http://irep.iium.edu.my/67302/ http://irep.iium.edu.my/67302/1/67302_Progress%20based%20assist-as-needed%20control%20strategy_complete.pdf http://irep.iium.edu.my/67302/2/67302_Progress%20based%20assist-as-needed%20control%20strategy_scopus.pdf |
| _version_ | 1848786736082059264 |
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| author | Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Fatai, Sado |
| author_facet | Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Fatai, Sado |
| author_sort | Ahmed Mounis, Shawgi Younis |
| building | IIUM Repository |
| collection | Online Access |
| description | Assist-as-Needed (AAN) strategy is one strategy of
administering robotic assistance which has gained wide
acceptance in recent time and has been clinically demonstrated to
provoke motor recovery in neurologically impaired patients. The
underlying principle in this scheme is to provide assistance to a
patient to complete desired movement only when the patient is in
need of that assistance, which invariably encourages patient’s
active participation to provoke neuroplasticity. Effective
deployment of this scheme in robot aided therapy still pose some
challenges. One current difficulty is finding an appropriate
method of estimating patients’ functional input, or movement
ability, by means on which the robot judges whether to assist or
to relax the assistance. Another concern is the repeatability or
consistency of the estimated subject’s movement ability across a
wide range of subjects with different disability level that can
warrant a broad clinical adoption. Also, generally overlooked is
the influence of subject’s recovery progress on the modality of
the AAN assistance. In this study, we propose a progress-based
assist-as-needed algorithm (pAAN) which rely on subject’s realtime
functional ability record to drive robotic assistance. We
define a novel functional ability index (FAI) on a baseline
adaptive inertia related controller which decays the robotic
torque assistance according to patients’ progress or active
participation during therapy session. Simulation studies carried
out for the task of lifting a can from table to the mouth, designed
in accordance with the Wolf motor function test (WMFT), have
demonstrated the feasibility of the pAAN strategy. |
| first_indexed | 2025-11-14T17:13:46Z |
| format | Proceeding Paper |
| id | iium-67302 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:13:46Z |
| publishDate | 2018 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-673022018-11-01T04:18:56Z http://irep.iium.edu.my/67302/ Progress based assist-as-needed control strategy for upper-limb rehabilitation Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Fatai, Sado RC Internal medicine T Technology (General) Assist-as-Needed (AAN) strategy is one strategy of administering robotic assistance which has gained wide acceptance in recent time and has been clinically demonstrated to provoke motor recovery in neurologically impaired patients. The underlying principle in this scheme is to provide assistance to a patient to complete desired movement only when the patient is in need of that assistance, which invariably encourages patient’s active participation to provoke neuroplasticity. Effective deployment of this scheme in robot aided therapy still pose some challenges. One current difficulty is finding an appropriate method of estimating patients’ functional input, or movement ability, by means on which the robot judges whether to assist or to relax the assistance. Another concern is the repeatability or consistency of the estimated subject’s movement ability across a wide range of subjects with different disability level that can warrant a broad clinical adoption. Also, generally overlooked is the influence of subject’s recovery progress on the modality of the AAN assistance. In this study, we propose a progress-based assist-as-needed algorithm (pAAN) which rely on subject’s realtime functional ability record to drive robotic assistance. We define a novel functional ability index (FAI) on a baseline adaptive inertia related controller which decays the robotic torque assistance according to patients’ progress or active participation during therapy session. Simulation studies carried out for the task of lifting a can from table to the mouth, designed in accordance with the Wolf motor function test (WMFT), have demonstrated the feasibility of the pAAN strategy. Institute of Electrical and Electronics Engineers Inc. 2018-03-09 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/67302/1/67302_Progress%20based%20assist-as-needed%20control%20strategy_complete.pdf application/pdf en http://irep.iium.edu.my/67302/2/67302_Progress%20based%20assist-as-needed%20control%20strategy_scopus.pdf Ahmed Mounis, Shawgi Younis and Zainul Azlan, Norsinnira and Fatai, Sado (2018) Progress based assist-as-needed control strategy for upper-limb rehabilitation. In: 2017 IEEE Conference on Systems, Process and Control, ICSPC 2017, 15 - 16 December 2017, Hatten Square Melaka. https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8313023 10.1109/SPC.2017.8313023 |
| spellingShingle | RC Internal medicine T Technology (General) Ahmed Mounis, Shawgi Younis Zainul Azlan, Norsinnira Fatai, Sado Progress based assist-as-needed control strategy for upper-limb rehabilitation |
| title | Progress based assist-as-needed control strategy for upper-limb rehabilitation |
| title_full | Progress based assist-as-needed control strategy for upper-limb rehabilitation |
| title_fullStr | Progress based assist-as-needed control strategy for upper-limb rehabilitation |
| title_full_unstemmed | Progress based assist-as-needed control strategy for upper-limb rehabilitation |
| title_short | Progress based assist-as-needed control strategy for upper-limb rehabilitation |
| title_sort | progress based assist-as-needed control strategy for upper-limb rehabilitation |
| topic | RC Internal medicine T Technology (General) |
| url | http://irep.iium.edu.my/67302/ http://irep.iium.edu.my/67302/ http://irep.iium.edu.my/67302/ http://irep.iium.edu.my/67302/1/67302_Progress%20based%20assist-as-needed%20control%20strategy_complete.pdf http://irep.iium.edu.my/67302/2/67302_Progress%20based%20assist-as-needed%20control%20strategy_scopus.pdf |