Guidance in the nullspace reduces task difficulty in robot-assisted coordination training

摘要

Haptic guidance in robot-assisted therapy does not only relieve the therapist from physical work load and increase the possible training intensity. Haptic guidance can also be used to adapt the task difficulty level to the patient's abilities, which is assumed to maximize the learning rate. Hereby, task difficulty can address either the patient's physical ability (strength) or his/her coordination ability.