Toward an Integrated Intervention and Assessment of Robot-Based Rehabilitation

Abstract

This study presents robot-based rehabilitation and its assessment. Robotic devices have significantly been useful to help therapists do the training procedure consistently. However, as robotic devices interface with humans, quantifying the interaction and its intended outcomes is still a research challenge. In this study, human–robot interaction during rehabilitation is assessed based on measurable interaction forces and human physiological response data, and correlations are established to plan the intervention and effective limb trajectories within the intended rehabilitation and interaction forces. In this study, the Universal Robot 5 (UR5) is used to guide and support the arm of a subject over a predefined trajectory while recording muscle activities through surface electromyography (sEMG) signals using the Trigno wireless DELSYS devices. The interaction force is measured through the force sensor mounted on the robot end-effector. The force signals and the human physiological data are analyzed and classified to infer the related progress. Feature reduction and selection techniques are used to identify redundant inputs and outputs.