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Robotic Assistance for Cerebellar Reaching

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Neuro-Robotics

Part of the book series: Trends in Augmentation of Human Performance ((TAHP,volume 2))

Abstract

Robotic instruments allow precise measurements and interventions to understand and treat human motor deficits. These same tools may be used to design model-based and patient-specific robotic assistance and rehabilitation paradigms. This approach could lead to an increased understanding of the brain and improved patient outcomes. We illustrate this paradigm with two studies in which generic and patient-specific models are used to provide reaching assistance with a robotic exoskeleton, the KINARM. These studies involve patients with cerebellar ataxia who make reaching movements that are irregularly curved, over- or undershoot targets, and are more variable than those of healthy people. Two assistive methods are explored. In the first, a patient-specific change in arm dynamics predicted to assist each patient is utilized. The results suggest this approach may improve the reaching of some cerebellar patients and not for others. The second method employs force channels, which improved reaching movements for all patients. However, neither method showed evidence of motor learning; i.e. there was no maintenance of improved movement after the assistive forces were removed.

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Author information

Authors and Affiliations

  1. New Mexico Tech, 801 Leroy Pl., Socorro, NM, 87801, USA

    David I. Grow

  2. Kennedy Krieger Institute, Baltimore, MD, USA

    Amy J. Bastian

  3. Johns Hopkins University, Baltimore, MD, USA

    Amy J. Bastian

  4. Stanford University, Stanford, CA, USA

    Allison M. Okamura

Authors
  1. David I. Grow
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  2. Amy J. Bastian
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  3. Allison M. Okamura
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Corresponding author

Correspondence to David I. Grow .

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Editors and Affiliations

  1. School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, Arizona, USA

    Panagiotis Artemiadis

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Grow, D.I., Bastian, A.J., Okamura, A.M. (2014). Robotic Assistance for Cerebellar Reaching. In: Artemiadis, P. (eds) Neuro-Robotics. Trends in Augmentation of Human Performance, vol 2. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-8932-5_12

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