![]() ![]() T-WREX (D) uses passive gravity balancing to provide assistance, with the number of elastic bands determining the amount of assistance. HWARD (C), the hand robot, uses triggered assistance, which means that it allows free movement for a fixed time for each desired task, and then responds by moving the hand if the participant does not achieve the task. New software for the Lokomat (B) adjusts the shape of the desired stepping trajectory based on participant interaction forces, as well as the robot impedance. Newer software for MIT-MANUS (A) adapts the timing and stiffness of the controller based on participant performance. ![]() Two of the first devices to undergo clinical testing, MIT-MANUS and Lokomat, initially used proportional position feedback control to provide assistance. ![]() Examples of robotic therapy devices using different types of assistance-based control algorithms. ![]() In future research, there is a need for head-to-head comparison of control algorithms in randomized, controlled clinical trials, and for improved models of human motor recovery to provide a more rational framework for designing robotic therapy control strategies.Įxamples of robotic therapy devices using different types of assistance-based control algorithms. It is also now apparent there may be mechanisms by which some robotic control approaches might actually decrease the recovery possible with comparable, non-robotic forms of training. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. The greatest amount of work has been done on developing assistive strategies, and thus the majority of this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance. Several categories of strategies have been proposed, including, assistive, challenge-based, haptic simulation, and coaching. This paper reviews control strategies for robotic therapy devices. There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury. ![]()
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