HapticV1, Main, Exploration, bibRecord, 006B43

Robotic therapy for persons with disabilities using Hidden Markov Model based skill learning

Identifieur interne : 006B43 ( Main/Exploration ); précédent : 006B42; suivant : 006B44

Robotic therapy for persons with disabilities using Hidden Markov Model based skill learning

Auteurs : WENTAO YU [États-Unis] ; Rajiv Dubey [États-Unis] ; Norali Pernalete [États-Unis]

Source :

RBID : Pascal:06-0270032

Descripteurs français

Pascal (Inist)
- Robotique, Commande mouvement, Interface utilisateur, Sensibilité tactile, Membre supérieur, Train, Coordination, Modèle Markov caché, Modèle Markov, ..
Wicri :
- topic : Robotique.

English descriptors

KwdEn :
- Coordination, Hidden Markov model, Markov model, Motion control, Robotics, Tactile sensitivity, Train, Upper limb, User interface.

Abstract

This paper describes the Hidden Markov Model (HMM) based skill learning and its application in a motion therapy system using a haptic interface. A relatively complex task, requiring motion along a labyrinth is used. A normal subject executes this task for a number of times and the best trajectory is selected as the learned skill, which is considered as a virtual therapist who can train persons with disabilities to complete the task. Two persons with disabilities on upper limb (cerebral palsy) were trained using the virtual therapist. The performance before and after therapy training, including the smoothness of the trajectory, distance ratio, time taken, tremor and impact forces are presented in this paper. This labyrinth can be used as a physical therapy for upper limb coordination, tremor reduction and motion control capabilities.

Affiliations:

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000D34
to stream PascalFrancis, to step Curation: 000772
to stream PascalFrancis, to step Checkpoint: 000C30
to stream Main, to step Merge: 006F52
to stream Main, to step Curation: 006B43

Le document en format XML

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<author><name sortKey="Pernalete, Norali" sort="Pernalete, Norali" uniqKey="Pernalete N" first="Norali" last="Pernalete">Norali Pernalete</name>
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<term>Hidden Markov model</term>
<term>Markov model</term>
<term>Motion control</term>
<term>Robotics</term>
<term>Tactile sensitivity</term>
<term>Train</term>
<term>Upper limb</term>
<term>User interface</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term>
<term>Commande mouvement</term>
<term>Interface utilisateur</term>
<term>Sensibilité tactile</term>
<term>Membre supérieur</term>
<term>Train</term>
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<front><div type="abstract" xml:lang="en">This paper describes the Hidden Markov Model (HMM) based skill learning and its application in a motion therapy system using a haptic interface. A relatively complex task, requiring motion along a labyrinth is used. A normal subject executes this task for a number of times and the best trajectory is selected as the learned skill, which is considered as a virtual therapist who can train persons with disabilities to complete the task. Two persons with disabilities on upper limb (cerebral palsy) were trained using the virtual therapist. The performance before and after therapy training, including the smoothness of the trajectory, distance ratio, time taken, tremor and impact forces are presented in this paper. This labyrinth can be used as a physical therapy for upper limb coordination, tremor reduction and motion control capabilities.</div>
</front>
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<affiliations><list><country><li>États-Unis</li>
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<region><li>Floride</li>
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<settlement><li>Tampa</li>
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<tree><country name="États-Unis"><region name="Floride"><name sortKey="Wentao Yu" sort="Wentao Yu" uniqKey="Wentao Yu" last="Wentao Yu">WENTAO YU</name>
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<name sortKey="Dubey, Rajiv" sort="Dubey, Rajiv" uniqKey="Dubey R" first="Rajiv" last="Dubey">Rajiv Dubey</name>
<name sortKey="Pernalete, Norali" sort="Pernalete, Norali" uniqKey="Pernalete N" first="Norali" last="Pernalete">Norali Pernalete</name>
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</record>

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Robotic therapy for persons with disabilities using Hidden Markov Model based skill learning

Robotic therapy for persons with disabilities using Hidden Markov Model based skill learning

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri