Minimizing Interference in Robotic Rehabilitation via Asymmetric Stiffness Force Fields
This article introduces a novel approach for guiding human arm movement in the context of robotic rehabilitation. We propose upper limb movement guidance using a force field based on an asymmetric stiffness matrix. By introducing asymmetry in stiffness design, the proposed force field can deflect ar...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Open Journal of the Industrial Electronics Society |
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| Online Access: | https://ieeexplore.ieee.org/document/11006019/ |
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| author | Yasuhiro Kato Sho Sakaino Toshiaki Tsuji |
| author_facet | Yasuhiro Kato Sho Sakaino Toshiaki Tsuji |
| author_sort | Yasuhiro Kato |
| collection | DOAJ |
| description | This article introduces a novel approach for guiding human arm movement in the context of robotic rehabilitation. We propose upper limb movement guidance using a force field based on an asymmetric stiffness matrix. By introducing asymmetry in stiffness design, the proposed force field can deflect arm movement toward the target direction of a reaching movement while minimizing impeding effects. We hypothesize that this method can guide a human in the desired direction without interfering with their voluntary movement. To evaluate the performance of the human arm guidance technique, we conducted upper limb reaching experiments using a 2-degree-of-freedom robot arm with ten healthy volunteers. The experimental results revealed that the proposed approach demonstrated a similar reduction in movement error compared to the conventional stiffness approach. Moreover, participants exhibited higher movement activeness, and robotic interference with human movement was lower. The proposed approach may improve movement guidance based on stiffness control by enabling the robot to guide without inhibiting voluntary movement. |
| format | Article |
| id | doaj-art-a96ec36a56ad4d8095cf7f503d51ba1e |
| institution | OA Journals |
| issn | 2644-1284 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of the Industrial Electronics Society |
| spelling | doaj-art-a96ec36a56ad4d8095cf7f503d51ba1e2025-08-20T02:19:40ZengIEEEIEEE Open Journal of the Industrial Electronics Society2644-12842025-01-01684085010.1109/OJIES.2025.357078911006019Minimizing Interference in Robotic Rehabilitation via Asymmetric Stiffness Force FieldsYasuhiro Kato0https://orcid.org/0000-0001-8343-5314Sho Sakaino1https://orcid.org/0000-0002-5182-5649Toshiaki Tsuji2Center for Education and Research in Information Science and Technology, University of Tokyo, 4-6-1 Komaba, Tokyo, JapanFaculty of Engineering, Information and Systems, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, JapanGraduate School of Science and Engineering, Saitama University, Saitama, JapanThis article introduces a novel approach for guiding human arm movement in the context of robotic rehabilitation. We propose upper limb movement guidance using a force field based on an asymmetric stiffness matrix. By introducing asymmetry in stiffness design, the proposed force field can deflect arm movement toward the target direction of a reaching movement while minimizing impeding effects. We hypothesize that this method can guide a human in the desired direction without interfering with their voluntary movement. To evaluate the performance of the human arm guidance technique, we conducted upper limb reaching experiments using a 2-degree-of-freedom robot arm with ten healthy volunteers. The experimental results revealed that the proposed approach demonstrated a similar reduction in movement error compared to the conventional stiffness approach. Moreover, participants exhibited higher movement activeness, and robotic interference with human movement was lower. The proposed approach may improve movement guidance based on stiffness control by enabling the robot to guide without inhibiting voluntary movement.https://ieeexplore.ieee.org/document/11006019/Assistive technologymovement guidancerehabilitationroboticsstiffness control |
| spellingShingle | Yasuhiro Kato Sho Sakaino Toshiaki Tsuji Minimizing Interference in Robotic Rehabilitation via Asymmetric Stiffness Force Fields IEEE Open Journal of the Industrial Electronics Society Assistive technology movement guidance rehabilitation robotics stiffness control |
| title | Minimizing Interference in Robotic Rehabilitation via Asymmetric Stiffness Force Fields |
| title_full | Minimizing Interference in Robotic Rehabilitation via Asymmetric Stiffness Force Fields |
| title_fullStr | Minimizing Interference in Robotic Rehabilitation via Asymmetric Stiffness Force Fields |
| title_full_unstemmed | Minimizing Interference in Robotic Rehabilitation via Asymmetric Stiffness Force Fields |
| title_short | Minimizing Interference in Robotic Rehabilitation via Asymmetric Stiffness Force Fields |
| title_sort | minimizing interference in robotic rehabilitation via asymmetric stiffness force fields |
| topic | Assistive technology movement guidance rehabilitation robotics stiffness control |
| url | https://ieeexplore.ieee.org/document/11006019/ |
| work_keys_str_mv | AT yasuhirokato minimizinginterferenceinroboticrehabilitationviaasymmetricstiffnessforcefields AT shosakaino minimizinginterferenceinroboticrehabilitationviaasymmetricstiffnessforcefields AT toshiakitsuji minimizinginterferenceinroboticrehabilitationviaasymmetricstiffnessforcefields |