Improved Rehabilitation Robot Trajectory Regeneration by Learning from the Healthy Ankle Demonstration
Authors: 
Yunkai Wang, Qingsong Ai, Ling Ai, Quan Liu, Jiwei Hu, Zude ZhouAuthors Info & Claims
Yunkai Wang, Qingsong Ai, Ling Ai, Quan Liu, Jiwei Hu, Zude ZhouAuthors Info & ClaimsPages 80 - 86
Abstract
The prevalence of ankle injuries in daily life has prompted the widespread application of rehabilitation robots. One of the important factors affecting robot-assisted ankle rehabilitation is the training trajectory which is usually regenerated from ankle movements. The traditional trajectory regeneration method is not suitable for the clinically recommended periodic ankle movements. In this paper, an improved robot trajectory regeneration method based on the individual characteristics is proposed to provide training reference trajectory for rehabilitation robots. This method extracts sample characteristics from the demonstration of the healthy ankle and reconstructs the sample space. Based on Learning from Demonstration (LfD) technology, the reference trajectory is regenerated for the rehabilitation of the injured ankle. The analysis of statistics and the regeneration of spatial features are performed to prove that this proposed method can regenerate the rehabilitation reference trajectory by learning from the healthy ankle demonstration.
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November 2020
135 pages
ISBN:9781450388085
DOI:10.1145/3440840
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Published: 15 February 2021
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- Refereed limited
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- National Natural Science Foundation of China
- Key Program for International S&T Cooperation of Hubei Province
- UK EPSRC Standard Research Scheme
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CIIS 2020
CIIS 2020: 2020 The 3rd International Conference on Computational Intelligence and Intelligent Systems
November 13 - 15, 2020
Tokyo, Japan
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