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A three-stage trajectory generation method for robot-assisted bilateral upper limb training with subject-specific adaptation

journal contribution
posted on 2018-07-01, 00:00 authored by Q Miao, A McDaid, M Zhang, P Kebria, H Li
© 2018 Elsevier B.V. Robot-assisted bilateral upper limb training typically requires two robotic devices that work cooperatively with a human user. The determination of appropriate movement trajectories is essential to avoid interference of the robotic systems and ensure an appropriate intersecting workspace with user limbs. This paper proposes a new three-stage trajectory generation method for bilateral upper limb training using interference analysis. These three stages include workspace analysis of robots and human hands, trajectory generation within the intersecting workspace, and interference analysis for training safety verification. This trajectory generation method is also implemented with subject-specific adaptation based on anthropometry of an individual. Experiments were conducted on seven healthy subjects with a variety of body sizes. All participants gave positive feedback on the suitability of the predefined training trajectories, and no robot interference was detected. This three-stage method provides guidelines for the standardization of robot-assisted bilateral upper limb training protocols. Future work will focus on proposing an adaptive trajectory generation algorithm with efficacy evaluation on a larger sample of subjects.

History

Journal

Robotics and Autonomous Systems

Volume

105

Pagination

38 - 46

Publisher

Elsevier

Location

Amsterdam, The Netherlands

ISSN

0921-8890

Language

eng

Publication classification

C1 Refereed article in a scholarly journal