Biomedical Robotics and Biomicrosystems Lab

MAAT–Multimodal interfaces to improve therApeutic outcomes in robot-Assisted rehabiliTation


The MAAT project is aimed at developing a novel robotic system for the delivery of highly sophisticatedtherapy to stroke patients able to (i) adaptively and dynamically change the complexity of the exercise,in accordance with patient requirements, (ii) maximize patient motivation and (iii) continuously assessthe progress of the recovery from the functional and neurological viewpoint, with special attention tothe issue of safety in human‐robot interaction.

The main goal is to close the patient in the control loop and use multi‐sensory data (such as motion,forces and physiological signals) to adaptively and dynamically change the complexity of the therapy andreal‐time display an immersive virtual reality environment, in accordance with specific patient requirements.

To pursue this objective a bio‐cooperative control system has been developed; it is updated according topatient needs thanks to the information about patient global status, provided by a module for theevaluation of patient physiological and biomechanical state.

The bio‐cooperative control system is composed of three main modules: (i) the robot interaction controlsystem, (ii) the virtual reality system and (iii) the module for the generation of modulation functions foradaptively changing the interaction control as well as the virtual reality.

A prototype of the multimodal robotic platform has been developed at UCBM for theexperimental validation with healthy and post‐stroke subjects; it consists of the Light‐Weight Robot(LWR) from KUKA as robot arm for therapy delivery, the bio-cooperative control and the multimodalinterface developed in MAAT.

ThefunctionalschemeoftheMAATsystem isshowninFigure5, while Figure 6 shows MAAT system components.




Figure 5  Functional scheme of the MAAT system: thebio-cooperative controller, human and the MAAT multimodal interface ina rehabilitation human- robotco-worker scenario




Figure 6  MAAT system components


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