Personalized Assistance in Robotic Rehabilitation: Real-Time Adaptation via Energy-Based Performance Monitoring
Pezeshki, Leilaalsadat Sadeghian, Hamid Mohebbi, Abolfazl Keshmiri, Mehdi Haddadin, Sami
Pezeshki, Leilaalsadat
Sadeghian, Hamid
Mohebbi, Abolfazl
Keshmiri, Mehdi
Haddadin, Sami
Department
Robotics
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Journal article
Date
2025
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Language
English
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Abstract
Recent studies underscore the importance of the patient’s active contribution and voluntary effort in enhancing therapy outcomes in physical rehabilitation. This paper presents an adaptive control scheme to implement active robotic rehabilitation. The primary goal is to dynamically regulate robotic assistance based on the patient’s performance and individual conditions, encouraging active participation, and effective therapy. To achieve this, a Lyapunov-based adaptive algorithm is developed that dynamically adjusts the admittance parameters by balancing the error and effort minimization. A novel performance index based on human energy input enables real-time identification of the intended human sharing role. This index is used as an adaptive rate in the proposed algorithm to enhance the control system’s dynamic responsiveness to changes in human performance. The proposed approach achieves two main rehabilitation objectives. First, it encourages active and safe human participation. Second, it enhances the therapy by providing personalized assistance, tailored to individual abilities and conditions, and thus reduces the need for therapist intervention. The performance of the proposed approach is illustrated in experimental studies. The results demonstrate the adaptability of the algorithm, ensuring compliant and safe interaction and effective task completion.
Citation
L. Pezeshki, H. Sadeghian, A. Mohebbi, M. Keshmiri, and S. Haddadin, “Personalized Assistance in Robotic Rehabilitation: Real-Time Adaptation via Energy-Based Performance Monitoring,” IEEE Transactions on Automation Science and Engineering, 2025, doi: 10.1109/TASE.2025.3552446.
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IEEE Transactions on Automation Science and Engineering
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Keywords
assist-as-needed control, Human-robot Cooperation, rehabilitation robotics, shared autonomy
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Publisher
IEEE