Uncertainty-aware automated assessment of the arm impedance with upper-limb exoskeletons

Frontiers in Neurorobotics

Neuroscience

Sandra Hirche¹  Satoshi Endo¹  Ronan Sangouard¹  Samuel Tesfazgi² 

[1] Chair of Information-oriented Control (ITR), TUM School of Computation, Information and Technology, Technical University of Munich, Munich, Germany;null;

关键词: reliable automated assessment;    sensitivity analysis;    human-exoskeleton interaction;    uncertainty quantification;    neuromechanical state estimation;    uncertainty-aware simulation;   

DOI  :  10.3389/fnbot.2023.1167604

 received in 2023-02-16, accepted in 2023-07-17,  发布年份 2023

来源: Frontiers

【 摘 要 】

Providing high degree of personalization to a specific need of each patient is invaluable to improve the utility of robot-driven neurorehabilitation. For the desired customization of treatment strategies, precise and reliable estimation of the patient's state becomes important, as it can be used to continuously monitor the patient during training and to document the rehabilitation progress. Wearable robotics have emerged as a valuable tool for this quantitative assessment as the actuation and sensing are performed on the joint level. However, upper-limb exoskeletons introduce various sources of uncertainty, which primarily result from the complex interaction dynamics at the physical interface between the patient and the robotic device. These sources of uncertainty must be considered to ensure the correctness of estimation results when performing the clinical assessment of the patient state. In this work, we analyze these sources of uncertainty and quantify their influence on the estimation of the human arm impedance. We argue that this mitigates the risk of relying on overconfident estimates and promotes more precise computational approaches in robot-based neurorehabilitation.

【 授权许可】

Unknown   
Copyright © 2023 Tesfazgi, Sangouard, Endo and Hirche.