Conference Proceedings

Indirect Robotic Movement Shaping through Motor Cost Influence

Justin Fong, Vincent Crocher, Ying Tan, Denny Oetomo

2011 IEEE International Conference on Rehabilitation Robotics | IEEE | Published : 2019

Abstract

Movement patterns are commonly disrupted after a neurological incident. The correction and recovery of these movement patterns is part of therapeutic practice, and should be considered in the development of robotic device control strategies. This is an area which has limited exploration in rehabilitation robotics literature. This work presents a new strategy aiming at influencing the cost associated with a movement, based on the principle of optimal motor control. This approach is unique, in that it does not directly modify the movement pattern, but instead encourages this altered movement. This 'Indirect Shaping Control' is applied in a preliminary experiment using an end-effector based dev..

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