Individual Robot-Aided Rehabilitation: From Assist-As-Needed Toward Challenge-As-Needed
Peper, Kim K. Sun, Zhenbin Jensen, Elisabeth R. Shahriari, Erfan Haddadin, Sami
Peper, Kim K.
Sun, Zhenbin
Jensen, Elisabeth R.
Shahriari, Erfan
Haddadin, Sami
Supervisor
Department
Robotics
Embargo End Date
Type
Conference proceeding
Date
2025
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Language
English
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Abstract
This paper introduces a novel method for monitoring patients’ ability to perform hip flexion motions and adapting the range of motion based on their individual capabilities. The aim is to optimize rehabilitation outcomes by appropriately challenging patients during the early stages of mobilization. Leveraging the concept of Challenge-As-Needed (CAN) control, we implemented this approach on a robotic device for very early mobilization, building upon the Assist-As-Needed (AAN) control framework. Testing was conducted with a single healthy subject, demonstrating potential for future clinical applications. Results indicate the effectiveness of our supplementary method in adjusting the range of motion (ROM) of robotic rehabilitation devices. By employing real-time sensing and making minor adjustments, our approach successfully identified instances where patients were ready to expand their maximal hip ROM, thus accommodating their needs effectively. Within the study, a pre-study was undertaken to identify the most suitable control variable, guiding the design and implementation of our control algorithm. Application of this algorithm to patient data yielded promising outcomes, suggesting its potential to enhance rehabilitation outcomes in future clinical settings.
Citation
K. K. Peper, Z. Sun, E. R. Jensen, E. Shahriari and S. Haddadin, "Individual Robot-Aided Rehabilitation: From Assist-As-Needed Toward Challenge-As-Needed," 2025 47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Copenhagen, Denmark, 2025, pp. 1-6, doi: 10.1109/EMBC58623.2025.11254589.
Source
Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Conference
47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Keywords
Robotics, Humans, Algorithms, Range of Motion, Rehabilitation
Subjects
Source
47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Publisher
IEEE