A learning from demonstration framework to promote home-based neuromotor rehabilitation

This paper presents the iterative development of an artificially intelligent system to promote home-based neurorehabilitation. Although proper, structured practice of rehabilitation exercises at home is the key to successful recovery of motor functions, there is no home-program out there which can monitor a patient's exercise-related activities and provide corrective feedback in real time. To this end, we designed a Learning from Demonstration (LfD) based home-rehabilitation framework that combines advanced robot learning algorithms with commercially available wearable technologies. The proposed system uses exercise-related motion information and electromyography signals (EMG) of a patient to train a Markov Decision Process (MDP). The trained MDP model can enable an agent to serve as a coach for a patient. On a system level, this is the first initiative, to the best of our knowledge, to employ LfD in an health-care application to enable lay users to program an intelligent system. From a rehabilitation research perspective, this is a completely novel initiative to employ machine learning to provide interactive corrective feedback to a patient in home settings.

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A learning-based agent for home neurorehabilitation

Lydakis

Meng

Munroe

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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Learning to Optimize Control Policies and Evaluate Reproduction Performance from Human Demonstrations

Gesel

LaRoche

Arthanat

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Kinesthetic teaching of a therapist's behavior to a rehabilitation robot

Fong

Tavakoli

2018

2018 International Symposium on Medical Robotics (ISMR)

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A learning from demonstration framework to promote home-based neuromotor rehabilitation

Cited by 3 publications

References 10 publications

A learning-based agent for home neurorehabilitation

A learning-based agent for home neurorehabilitation

Learning to Optimize Control Policies and Evaluate Reproduction Performance from Human Demonstrations

Kinesthetic teaching of a therapist's behavior to a rehabilitation robot

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