DocumentCode :
3190372
Title :
A feasible study of EEG-driven assistive robotic system for stroke rehabilitation
Author :
Hayashi, Yoshikatsu ; Nagai, Kiyoshi ; Ito, Koji ; Nasuto, Slawomir J. ; Loureiro, Rui C V ; Harwin, William S.
Author_Institution :
Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan
fYear :
2012
fDate :
24-27 June 2012
Firstpage :
1733
Lastpage :
1739
Abstract :
Stroke is a medical emergency and can cause a neurological damage, affecting the motor and sensory systems. Harnessing brain plasticity should make it possible to reconstruct the closed loop between the brain and the body, i.e., association of the generation of the motor command with the somatic sensory feedback might enhance motor recovery. In order to aid reconstruction of this loop with a robotic device it is necessary to assist the paretic side of the body at the right moment to achieve simultaneity between motor command and feedback signal to somatic sensory area in brain. To this end, we propose an integrated EEG-driven assistive robotic system for stroke rehabilitation. Depending on the level of motor recovery, it is important to provide adequate stimulation for upper limb motion. Thus, we propose an assist arm incorporating a Magnetic Levitation Joint that can generate a compliant motion due to its levitation and mechanical redundancy. This paper reports on a feasibility study carried out to verify the validity of the robot sensing and on EEG measurements conducted with healthy volunteers while performing a spontaneous arm flexion/extension movement. A characteristic feature was found in the temporal evolution of EEG signal in the single motion prior to executed motion which can aid in coordinating timing of the robotic arm assistance onset.
Keywords :
brain-computer interfaces; compliant mechanisms; electroencephalography; human-robot interaction; magnetic levitation; medical robotics; medical signal processing; neurophysiology; patient rehabilitation; redundancy; EEG measurements; EEG signal; EEG-driven assistive robotic system; brain plasticity; closed loop reconstruction; compliant motion generation; electroencephalogram; magnetic levitation joint; mechanical redundancy; medical emergency; motor recovery; motor systems; neurological damage; robot sensing; robotic arm assistance; sensory systems; somatic sensory feedback; spontaneous arm extension movement; spontaneous arm flexion movement; stroke rehabilitation; temporal evolution; upper limb motion; Electroencephalography; Force; Joints; Magnetic levitation; Robot kinematics; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location :
Rome
ISSN :
2155-1774
Print_ISBN :
978-1-4577-1199-2
Type :
conf
DOI :
10.1109/BioRob.2012.6290919
Filename :
6290919
Link To Document :
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