The development of an adaptive upper-limb stroke rehabilitation robotic system
Identifieur interne : 002951 ( Main/Merge ); précédent : 002950; suivant : 002952The development of an adaptive upper-limb stroke rehabilitation robotic system
Auteurs : Patricia Kan [Canada] ; Rajibul Huq [Canada] ; Jesse Hoey [Royaume-Uni] ; Robby Goetschalckx [Royaume-Uni] ; Alex Mihailidis [Canada]Source :
- Journal of NeuroEngineering and Rehabilitation [ 1743-0003 ] ; 2011.
Abstract
Stroke is the primary cause of adult disability. To support this large population in recovery, robotic technologies are being developed to assist in the delivery of rehabilitation. This paper presents an automated system for a rehabilitation robotic device that guides stroke patients through an upper-limb reaching task. The system uses a decision theoretic model (a partially observable Markov decision process, or POMDP) as its primary engine for decision making. The POMDP allows the system to automatically modify exercise parameters to account for the specific needs and abilities of different individuals, and to use these parameters to take appropriate decisions about stroke rehabilitation exercises.
The performance of the system was evaluated by comparing the decisions made by the system with those of a human therapist. A single patient participant was paired up with a therapist participant for the duration of the study, for a total of six sessions. Each session was an hour long and occurred three times a week for two weeks. During each session, three steps were followed: (A) after the system made a decision, the therapist either agreed or disagreed with the decision made; (B) the researcher had the device execute the decision made by the therapist; (C) the patient then performed the reaching exercise. These parts were repeated in the order of A-B-C until the end of the session. Qualitative and quantitative question were asked at the end of each session and at the completion of the study for both participants.
Overall, the therapist agreed with the system decisions approximately 65% of the time. In general, the therapist thought the system decisions were believable and could envision this system being used in both a clinical and home setting. The patient was satisfied with the system and would use this system as his/her primary method of rehabilitation.
The data collected in this study can only be used to provide insight into the performance of the system since the sample size was limited. The next stage for this project is to test the system with a larger sample size to obtain significant results.
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DOI: 10.1186/1743-0003-8-33
PubMed: 21679457
PubMed Central: 3152889
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">The development of an adaptive upper-limb stroke rehabilitation robotic system</title><author><name sortKey="Kan, Patricia" sort="Kan, Patricia" uniqKey="Kan P" first="Patricia" last="Kan">Patricia Kan</name><affiliation wicri:level="4"><nlm:aff id="I1">Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation></author><author><name sortKey="Huq, Rajibul" sort="Huq, Rajibul" uniqKey="Huq R" first="Rajibul" last="Huq">Rajibul Huq</name><affiliation wicri:level="4"><nlm:aff id="I1">Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation></author><author><name sortKey="Hoey, Jesse" sort="Hoey, Jesse" uniqKey="Hoey J" first="Jesse" last="Hoey">Jesse Hoey</name><affiliation wicri:level="1"><nlm:aff id="I2">School of Computing, University of Dundee, Dundee, DD1 4HN, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>School of Computing, University of Dundee, Dundee, DD1 4HN</wicri:regionArea><wicri:noRegion>DD1 4HN</wicri:noRegion></affiliation></author><author><name sortKey="Goetschalckx, Robby" sort="Goetschalckx, Robby" uniqKey="Goetschalckx R" first="Robby" last="Goetschalckx">Robby Goetschalckx</name><affiliation wicri:level="1"><nlm:aff id="I2">School of Computing, University of Dundee, Dundee, DD1 4HN, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>School of Computing, University of Dundee, Dundee, DD1 4HN</wicri:regionArea><wicri:noRegion>DD1 4HN</wicri:noRegion></affiliation></author><author><name sortKey="Mihailidis, Alex" sort="Mihailidis, Alex" uniqKey="Mihailidis A" first="Alex" last="Mihailidis">Alex Mihailidis</name><affiliation wicri:level="4"><nlm:aff id="I1">Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Institute of Biomaterials and 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Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Toronto Rehabilitation Institute, 550 University Avenue, M5G 2A2, Toronto</wicri:regionArea><wicri:noRegion>Toronto</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">21679457</idno><idno type="pmc">3152889</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3152889</idno><idno type="RBID">PMC:3152889</idno><idno type="doi">10.1186/1743-0003-8-33</idno><date when="2011">2011</date><idno type="wicri:Area/Pmc/Corpus">002047</idno><idno type="wicri:Area/Pmc/Curation">002047</idno><idno type="wicri:Area/Pmc/Checkpoint">001952</idno><idno type="wicri:Area/Ncbi/Merge">001A92</idno><idno type="wicri:Area/Ncbi/Curation">001A92</idno><idno type="wicri:Area/Ncbi/Checkpoint">001A92</idno><idno type="wicri:Area/Main/Merge">002951</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">The development of an adaptive upper-limb stroke rehabilitation robotic system</title><author><name sortKey="Kan, Patricia" sort="Kan, Patricia" uniqKey="Kan P" first="Patricia" last="Kan">Patricia Kan</name><affiliation wicri:level="4"><nlm:aff id="I1">Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation></author><author><name sortKey="Huq, Rajibul" sort="Huq, Rajibul" uniqKey="Huq R" first="Rajibul" last="Huq">Rajibul Huq</name><affiliation wicri:level="4"><nlm:aff id="I1">Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation></author><author><name sortKey="Hoey, Jesse" sort="Hoey, Jesse" uniqKey="Hoey J" first="Jesse" last="Hoey">Jesse Hoey</name><affiliation wicri:level="1"><nlm:aff id="I2">School of Computing, University of Dundee, Dundee, DD1 4HN, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>School of Computing, University of Dundee, Dundee, DD1 4HN</wicri:regionArea><wicri:noRegion>DD1 4HN</wicri:noRegion></affiliation></author><author><name sortKey="Goetschalckx, Robby" sort="Goetschalckx, Robby" uniqKey="Goetschalckx R" first="Robby" last="Goetschalckx">Robby Goetschalckx</name><affiliation wicri:level="1"><nlm:aff id="I2">School of Computing, University of Dundee, Dundee, DD1 4HN, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>School of Computing, University of Dundee, Dundee, DD1 4HN</wicri:regionArea><wicri:noRegion>DD1 4HN</wicri:noRegion></affiliation></author><author><name sortKey="Mihailidis, Alex" sort="Mihailidis, Alex" uniqKey="Mihailidis A" first="Alex" last="Mihailidis">Alex Mihailidis</name><affiliation wicri:level="4"><nlm:aff id="I1">Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Institute of Biomaterials and Biomedical Engineering, Rosebrugh Building, 164 College Street, Room 407, University of Toronto, Toronto, M5T 1P7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation><affiliation wicri:level="4"><nlm:aff id="I3">Department of Occupational Science and Occupational Therapy, University of Toronto, 160-500 University Avenue, Toronto, M5G 1V7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Department of Occupational Science and Occupational Therapy, University of Toronto, 160-500 University Avenue, Toronto, M5G 1V7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation><affiliation wicri:level="1"><nlm:aff id="I4">Toronto Rehabilitation Institute, 550 University Avenue, M5G 2A2, Toronto, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Toronto Rehabilitation Institute, 550 University Avenue, M5G 2A2, Toronto</wicri:regionArea><wicri:noRegion>Toronto</wicri:noRegion></affiliation></author></analytic><series><title level="j">Journal of NeuroEngineering and Rehabilitation</title><idno type="eISSN">1743-0003</idno><imprint><date when="2011">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec><title>Background</title><p>Stroke is the primary cause of adult disability. To support this large population in recovery, robotic technologies are being developed to assist in the delivery of rehabilitation. This paper presents an automated system for a rehabilitation robotic device that guides stroke patients through an upper-limb reaching task. The system uses a decision theoretic model (a partially observable Markov decision process, or POMDP) as its primary engine for decision making. The POMDP allows the system to automatically modify exercise parameters to account for the specific needs and abilities of different individuals, and to use these parameters to take appropriate decisions about stroke rehabilitation exercises.</p></sec><sec><title>Methods</title><p>The performance of the system was evaluated by comparing the decisions made by the system with those of a human therapist. A single patient participant was paired up with a therapist participant for the duration of the study, for a total of six sessions. Each session was an hour long and occurred three times a week for two weeks. During each session, three steps were followed: (A) after the system made a decision, the therapist either agreed or disagreed with the decision made; (B) the researcher had the device execute the decision made by the therapist; (C) the patient then performed the reaching exercise. These parts were repeated in the order of A-B-C until the end of the session. Qualitative and quantitative question were asked at the end of each session and at the completion of the study for both participants.</p></sec><sec><title>Results</title><p>Overall, the therapist agreed with the system decisions approximately 65% of the time. In general, the therapist thought the system decisions were believable and could envision this system being used in both a clinical and home setting. The patient was satisfied with the system and would use this system as his/her primary method of rehabilitation.</p></sec><sec><title>Conclusions</title><p>The data collected in this study can only be used to provide insight into the performance of the system since the sample size was limited. 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uniqKey="Hoey J">J Hoey</name></author><author><name sortKey="Von Bertoldi, A" uniqKey="Von Bertoldi A">A von Bertoldi</name></author><author><name sortKey="Poupart, P" uniqKey="Poupart P">P Poupart</name></author><author><name sortKey="Mihailidis, A" uniqKey="Mihailidis A">A Mihailidis</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Pineau, J" uniqKey="Pineau J">J Pineau</name></author><author><name sortKey="Gordon, G" uniqKey="Gordon G">G Gordon</name></author><author><name sortKey="Thrun, S" uniqKey="Thrun S">S Thrun</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Dobkin, Bh" uniqKey="Dobkin B">BH Dobkin</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Poupart, P" uniqKey="Poupart P">P Poupart</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Spaan, Mtj" uniqKey="Spaan M">MTJ Spaan</name></author><author><name sortKey="Vlassis, N" uniqKey="Vlassis N">N Vlassis</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Gowland, C" uniqKey="Gowland C">C Gowland</name></author><author><name sortKey="Stratford, P" uniqKey="Stratford P">P Stratford</name></author><author><name sortKey="Ward, M" uniqKey="Ward M">M Ward</name></author><author><name sortKey="Moreland, J" uniqKey="Moreland J">J Moreland</name></author><author><name sortKey="Torresin, W" uniqKey="Torresin W">W Torresin</name></author><author><name sortKey="Van Hullenaar, S" uniqKey="Van Hullenaar S">S Van Hullenaar</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lazo, Acgv" uniqKey="Lazo A">ACGV Lazo</name></author><author><name sortKey="Rathie, Pn" uniqKey="Rathie P">PN Rathie</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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