Title

Toward Individualized Adaptive Robot-aided Training for Reaching Task: a Simulation Study

DGIST Authors

Lee, Dooseok ; Moon, Hyungsup ; Kim, Jonghyun

Advisor

김종현

Co-Advisor(s)

Dooseok Lee

Issued Date

2020

Awarded Date

2020-02

Citation

Hyungsup Moon. (2020). Toward Individualized Adaptive Robot-aided Training for Reaching Task: a Simulation Study. doi: 10.22677/Theses.200000286474

Type

Thesis

Description

Rehabilitation, Individualized Training, Reaching Task, Robot-aided training

Table Of Contents

Ⅰ. Introduction
1.1 Upper Limb Rehabilitation of Post-Stroke 1
1.2 Robot-aided Training and Individualization 2
1.3 Previous Studies 3
1.4 Individualized Adaptive Training for Reaching Task 3
1.5 Study Goal 5

IⅠ. Adaptation Policies
2.1 Reaching Task Workspace 6
2.2 Reaching Task Priorities 7
2.3 Proposed Policies 7
2.3.1 Weight Law 7
2.3.2 ϵ-Weight Law 8
2.4 Assessment Policies 9
2.4.1 Assessment Distribution 10
2.4.2 Assessment Recovery 10
2.5 Control Policies 10
2.5.1 Ideal 10
2.5.2 Random 11


IIⅠ. Simulation
3.1 Simulation Scheme 12
3.2 Recovery Model 12
3.3 Evaluation Index 13
3.4 Termination Condition 14
3.5 Virtual Patients with Noise Conditions 14
3.6 Programming Tools and Data Analysis 15


IV. Result
4.1 Skewed Patient 16
4.2 Distributed Patient 17

V. Discussion 19

VI. Conclusion 22

Reference 23

URI

http://dgist.dcollection.net/common/orgView/200000286474
http://hdl.handle.net/20.500.11750/11961

DOI

10.22677/Theses.200000286474

Degree

Master

Department

Robotics Engineering

Publisher

DGIST

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