Intelligent Control Framework for Robotic Rehabilitation after Stroke

This paper presents a new approach to robot assisted rehabilitation for stroke patients. The control architecture is represented in terms of hybrid system model combining a high-level and a low-level controller. The main focus of this paper is to present an intelligent controller, which is the high-level controller in the control architecture. The high-level controller is designed to monitor the progress and safety of the rehabilitation task. It also makes decisions on the modification of the task that might be needed for the therapy. Experimental results on unimpaired subjects are presented to demonstrate the efficacy of the high-level controller.