Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system: An exploratory study

Radhika Chemuturi; Farshid Amirabdollahian; K. Dautenhahn

doi:10.1109/BioRob.2012.6290802

Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system: An exploratory study

Radhika Chemuturi, Farshid Amirabdollahian, K. Dautenhahn

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

The idea of using robots to assist a therapist with a rehabilitation exercise has led to the development of several rehabilitation robotic devices. The scope of robotic devices in rehabilitation is rapidly advancing based on the developments in robotics, haptic interfaces and virtual reality. GENTLE/S was a rehabilitation system that utilized haptic and virtual reality technologies to deliver challenging and meaningful therapies to upper limb impaired stroke subjects. The current research is working towards designing the GENTLE/A system with a better adaptive human-robot interface. This paper presents the results from an exploratory study conducted with twenty healthy subjects. The aim of the study was to identify the contribution by subject/robot during different human-robot interaction modes. Our results show that it is possible to identify the leading or lagging role of a subject during a human-robot interaction session where a reference trajectory is used to drive the arm along a path. The final goal is to use these observations to probe various ways in which the adaptability of the GENTLE/A system can be improved as a therapeutic device and an assessment tool.

Original language	English
Title of host publication	Procs IEEE RAS/EMBS 4th Int Conf on Biomedical Robotics and Biomechatronics (BioRob)
Editors	J.P. Desai, L.P.S. Jay, L. Zollo
Place of Publication	NEW YORK
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1404-1409
Number of pages	6
ISBN (Print)	978-1-4577-1199-2
DOIs	https://doi.org/10.1109/BioRob.2012.6290802
Publication status	Published - 24 Jun 2012
Event	Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on - Rome, Italy Duration: 24 Jun 2012 → 27 Oct 2012

Conference

Conference	Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Country/Territory	Italy
City	Rome
Period	24/06/12 → 27/10/12

Keywords

MEDIATED STROKE THERAPY
RECOVERY
ARM MOVEMENT
adaptable system
stroke rehabilitation
lead-lag interactive behaviour
ROBOT
robotic therapy

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10.1109/BioRob.2012.6290802

Cite this

Chemuturi, R., Amirabdollahian, F., & Dautenhahn, K. (2012). Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system: An exploratory study. In J. P. Desai, L. P. S. Jay, & L. Zollo (Eds.), Procs IEEE RAS/EMBS 4th Int Conf on Biomedical Robotics and Biomechatronics (BioRob) (pp. 1404-1409). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/BioRob.2012.6290802

Chemuturi, Radhika ; Amirabdollahian, Farshid ; Dautenhahn, K. / Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system : An exploratory study. Procs IEEE RAS/EMBS 4th Int Conf on Biomedical Robotics and Biomechatronics (BioRob). editor / J.P. Desai ; L.P.S. Jay ; L. Zollo. NEW YORK : Institute of Electrical and Electronics Engineers (IEEE), 2012. pp. 1404-1409

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title = "Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system: An exploratory study",

abstract = "The idea of using robots to assist a therapist with a rehabilitation exercise has led to the development of several rehabilitation robotic devices. The scope of robotic devices in rehabilitation is rapidly advancing based on the developments in robotics, haptic interfaces and virtual reality. GENTLE/S was a rehabilitation system that utilized haptic and virtual reality technologies to deliver challenging and meaningful therapies to upper limb impaired stroke subjects. The current research is working towards designing the GENTLE/A system with a better adaptive human-robot interface. This paper presents the results from an exploratory study conducted with twenty healthy subjects. The aim of the study was to identify the contribution by subject/robot during different human-robot interaction modes. Our results show that it is possible to identify the leading or lagging role of a subject during a human-robot interaction session where a reference trajectory is used to drive the arm along a path. The final goal is to use these observations to probe various ways in which the adaptability of the GENTLE/A system can be improved as a therapeutic device and an assessment tool.",

keywords = "MEDIATED STROKE THERAPY, RECOVERY, ARM MOVEMENT, adaptable system, stroke rehabilitation, lead-lag interactive behaviour, ROBOT, robotic therapy",

author = "Radhika Chemuturi and Farshid Amirabdollahian and K. Dautenhahn",

year = "2012",

month = jun,

day = "24",

doi = "10.1109/BioRob.2012.6290802",

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publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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note = "Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on ; Conference date: 24-06-2012 Through 27-10-2012",

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Chemuturi, R, Amirabdollahian, F & Dautenhahn, K 2012, Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system: An exploratory study. in JP Desai, LPS Jay & L Zollo (eds), Procs IEEE RAS/EMBS 4th Int Conf on Biomedical Robotics and Biomechatronics (BioRob). Institute of Electrical and Electronics Engineers (IEEE), NEW YORK, pp. 1404-1409, Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290802

Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system: An exploratory study. / Chemuturi, Radhika; Amirabdollahian, Farshid ; Dautenhahn, K.
Procs IEEE RAS/EMBS 4th Int Conf on Biomedical Robotics and Biomechatronics (BioRob). ed. / J.P. Desai; L.P.S. Jay; L. Zollo. NEW YORK: Institute of Electrical and Electronics Engineers (IEEE), 2012. p. 1404-1409.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system

T2 - Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on

AU - Chemuturi, Radhika

AU - Amirabdollahian, Farshid

AU - Dautenhahn, K.

PY - 2012/6/24

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N2 - The idea of using robots to assist a therapist with a rehabilitation exercise has led to the development of several rehabilitation robotic devices. The scope of robotic devices in rehabilitation is rapidly advancing based on the developments in robotics, haptic interfaces and virtual reality. GENTLE/S was a rehabilitation system that utilized haptic and virtual reality technologies to deliver challenging and meaningful therapies to upper limb impaired stroke subjects. The current research is working towards designing the GENTLE/A system with a better adaptive human-robot interface. This paper presents the results from an exploratory study conducted with twenty healthy subjects. The aim of the study was to identify the contribution by subject/robot during different human-robot interaction modes. Our results show that it is possible to identify the leading or lagging role of a subject during a human-robot interaction session where a reference trajectory is used to drive the arm along a path. The final goal is to use these observations to probe various ways in which the adaptability of the GENTLE/A system can be improved as a therapeutic device and an assessment tool.

AB - The idea of using robots to assist a therapist with a rehabilitation exercise has led to the development of several rehabilitation robotic devices. The scope of robotic devices in rehabilitation is rapidly advancing based on the developments in robotics, haptic interfaces and virtual reality. GENTLE/S was a rehabilitation system that utilized haptic and virtual reality technologies to deliver challenging and meaningful therapies to upper limb impaired stroke subjects. The current research is working towards designing the GENTLE/A system with a better adaptive human-robot interface. This paper presents the results from an exploratory study conducted with twenty healthy subjects. The aim of the study was to identify the contribution by subject/robot during different human-robot interaction modes. Our results show that it is possible to identify the leading or lagging role of a subject during a human-robot interaction session where a reference trajectory is used to drive the arm along a path. The final goal is to use these observations to probe various ways in which the adaptability of the GENTLE/A system can be improved as a therapeutic device and an assessment tool.

KW - MEDIATED STROKE THERAPY

KW - RECOVERY

KW - ARM MOVEMENT

KW - adaptable system

KW - stroke rehabilitation

KW - lead-lag interactive behaviour

KW - ROBOT

KW - robotic therapy

U2 - 10.1109/BioRob.2012.6290802

DO - 10.1109/BioRob.2012.6290802

M3 - Conference contribution

AN - SCOPUS:84867426275

SN - 978-1-4577-1199-2

SP - 1404

EP - 1409

BT - Procs IEEE RAS/EMBS 4th Int Conf on Biomedical Robotics and Biomechatronics (BioRob)

A2 - Desai, J.P.

A2 - Jay, L.P.S.

A2 - Zollo, L.

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - NEW YORK

Y2 - 24 June 2012 through 27 October 2012

ER -

Chemuturi R, Amirabdollahian F , Dautenhahn K. Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system: An exploratory study. In Desai JP, Jay LPS, Zollo L, editors, Procs IEEE RAS/EMBS 4th Int Conf on Biomedical Robotics and Biomechatronics (BioRob). NEW YORK: Institute of Electrical and Electronics Engineers (IEEE). 2012. p. 1404-1409 doi: 10.1109/BioRob.2012.6290802

Impact of lead-lag contributions of subject on adaptability of the GENTLE/A system: An exploratory study

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