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Fraile J.-C.,University of Valladolid | Perez-Turiel J.,University of Valladolid | Vinas P.,Centro Tecnologico Fundacion Cartif | Alonso R.,Centro Tecnologico Fundacion Cartif | And 6 more authors.
Advances in Intelligent Systems and Computing | Year: 2016

In this paper, the most significant aspects of the new robotic platform E2REBOT, for active assistance in rehabilitation work of the upper limbs for people with neuromotor impairment, are presented. Special emphasis is made on the characteristics of their control architecture, designed based on a three level model, one of which implements a haptic impedance controller, developed according to the “assist as needed” paradigm, looking to dynamically adjust the level of assistance to the current situation of the patient, in order to improve the results of the therapy. The two modes of therapy that supports the platform are described, highlighting the behavior of the control system in each case and describing the criteria used to adapt the behavior of the robot. Finally, we describe the ability of the system for the automatic recording of kinematic and dynamic parameters during the execution of therapies, and the availability of a management environment for exploiting these data, as a tool for supporting the rehabilitation tasks. © Springer International Publishing Switzerland 2016.


Rodriguez-Guerrero C.,Centro Tecnologico Fundacion Cartif | Fraile J.C.,University of Valladolid | Perez-Turiel J.,Centro Tecnologico Fundacion Cartif | Rivera Farina P.,Centro Tecnologico Fundacion Cartif
RIAI - Revista Iberoamericana de Automatica e Informatica Industrial | Year: 2011

Biocooperative augmented robots can enhance rehabilitation therapies by giving the correct assistance to the patient at the correct time. Since different patients may benefit from different levels of assistance or resistance at a given time, predicting when a person enters in an undesired psychophysiological state can provide an intelligent system with important information about when to adpat interaction. This work presents a subject centered approach method that includes the human into the loop by using physiological feedback techniques. This gives the rehabilitation robot the ability to adapt to several different patients, and maintain the therapy as intensive as possible without compromising patient health, or letting the individual get stressed which would result in a decay of the overall performance. We present here a novel subject centered approach method that includes the human into the loop by using novel biocooperation techniques, which let the rehabilitation robot changes its apparent dynamic parameters, by gathering, recording and processing several physiological data online at rehabilitation time, allowing for more intensive rehabilitation tasks, and possibly stimulate active participation by the patient. Copyright © 2011 CEA.

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