Physical therapy keeps exploiting more and more the capabilities of the robot of adapting the treatments to patients’ needs. This paper aims at presenting a psychophysiological-aware control strategy for upper limb robot-aided orthopedic rehabilitation. The main features are the capability of i) generating point-to-point trajectories inside an adaptable workspace, ii) providing assistance in guiding the patients’ limbs in accomplishing the assigned task allowing them to freely move with a certain degree of spatial and temporal autonomy and iii) tuning the control parameters according to the patients’ kinematics performance and psychophysiological state. The implemented control strategy is validated in a real clinical setting on eight orthopedic patients undergoing twenty daily robot-aided rehabilitation sessions. The psychophysiological-aware control strategy evidenced a positive impact on the enrolled participants since they are effectively conducted in a calmer condition with respect to the patients who did not receive the psychophysiological adaptation. Moreover, clinical performance indicators suggest that the proposed tailored control strategy improves motor functions.

中文翻译：

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通过带内能量收集实现永久可重构智能表面：架构、协议和挑战


物理治疗不断利用机器人的能力来根据患者的需求调整治疗方法。本文旨在提出一种用于上肢机器人辅助骨科康复的心理生理感知控制策略。主要特点是能够 i) 在适应性强的工作空间内生成点对点轨迹，ii) 帮助引导患者的肢体完成指定的任务，使他们能够在一定程度的空间和时间自主性下自由移动iii) 根据患者的运动学表现和心理生理状态调整控制参数。所实施的控制策略在真实的临床环境中对 8 名骨科患者进行了验证，该患者每天接受 20 次机器人辅助康复治疗。心理生理意识控制策略对登记的参与者产生了积极的影响，因为相对于未接受心理生理适应的患者，这些控制策略是在更平静的条件下有效进行的。此外，临床表现指标表明，所提出的定制控制策略可以改善运动功能。