Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: The development of an adaptive upper-limb stroke rehabilitation robotic system | Kan et al. Journal of NeuroEngineering and Rehabilitation 2011 8 33 http content 8 1 33 Iril JOURNAL OF NEUROENGINEERING NCR AND REHABILITATION RESEARCH Open Access The development of an adaptive upper-limb stroke rehabilitation robotic system 112 2 13 4 Patricia Kan Rajibul Huq Jesse Hoey Robby Goetschalckx and Alex Mihailidis 1 Abstract Background Stroke is the primary cause of adult disability. To support this large population in recovery robotic technologies are being developed to assist in the delivery of rehabilitation. This paper presents an automated system for a rehabilitation robotic device that guides stroke patients through an upper-limb reaching task. The system uses a decision theoretic model a partially observable Markov decision process or POMDP as its primary engine for decision making. The POMDP allows the system to automatically modify exercise parameters to account for the specific needs and abilities of different individuals and to use these parameters to take appropriate decisions about stroke rehabilitation exercises. Methods The performance of the system was evaluated by comparing the decisions made by the system with those of a human therapist. A single patient participant was paired up with a therapist participant for the duration of the study for a total of six sessions. Each session was an hour long and occurred three times a week for two weeks. During each session three steps were followed A after the system made a decision the therapist either agreed or disagreed with the decision made B the researcher had the device execute the decision made by the therapist C the patient then performed the reaching exercise. These parts were repeated in the order of A-B-C until the end of the session. Qualitative and quantitative question were asked at the end of each session and at the completion of the study for both participants. Results Overall the therapist agreed with the system decisions approximately 65 of the time. In
