Robot Biocooperativo con Modulación Háptica para Tareas de Neurorehabilitación de los Miembros Superiores

摘要

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.