DocumentCode :
2562528
Title :
Pathological Sit-To-Stand Predictive Models for Control of a Rehabilitation Robotic Device
Author :
Saint-Bauzel, L. ; Pasqui, Viviane ; Gas, Bruno ; Zarader, Jean-Luc
Author_Institution :
Univ. Pierre et Marie Curie-Paris, Fontenay-aux-Roses
fYear :
2007
fDate :
26-29 Aug. 2007
Firstpage :
1173
Lastpage :
1178
Abstract :
The aim of the work presented in this paper is to realize the model for the control of a robotic interface for equilibrium assistance during sit-to-stand transfer. Interactive robotic devices designed as human-centered robotics, can give more comfortable and more efficient solutions than traditional technical devices. One supposes the need of a virtual model of the pathology. This model, called observer, aims at being used in the smoothing control part of this assisting device. A useful property of this observer should be a postural prediction ability. This article presents a study of different neural solutions : a Neural Predictive Observer (NPO) and a Reduced Neural Predictive Observer (RNPO). Records used for the learning have been done from healthy people that stand up normally and quickly. Some tests will also be done in patients with cerebellar syndrome disease. The presented experimental results show the good accuracy of these approaches whatever the speed of the movement.
Keywords :
interactive systems; learning (artificial intelligence); medical robotics; neurocontrollers; observers; patient rehabilitation; predictive control; service robots; equilibrium assistance; human-centered robotics; interactive rehabilitation robotic device control; pathological sit-to-stand predictive models; postural prediction ability; reduced neural predictive observer; Artificial neural networks; Diseases; Human robot interaction; Intelligent robots; Intelligent systems; Pathology; Predictive models; Rehabilitation robotics; Robot control; Sociotechnical systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on
Conference_Location :
Jeju
Print_ISBN :
978-1-4244-1634-9
Electronic_ISBN :
978-1-4244-1635-6
Type :
conf
DOI :
10.1109/ROMAN.2007.4415257
Filename :
4415257
Link To Document :
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