CORBYS cognitive control architecture for robotic follower

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Salge

Polani

et al. 2015

Self Cite

The number of mechanical degrees of freedom (DoFs) within rehabilitation robots directly influences the scope of the movements that a subject can perform when training walking. Currently, gait rehabilitation robots have a limited number of mechanical DoFs, as a consequence this limits the movements these robots can make possible. In this paper, the novel gait rehabilitation system CORBYS is presented which consists of the mobile platform and a powered orthosis which is attached to the platform. The CORBYS powered orthosis has 16 DoFs enabling more physiological movements, making it a state-of-the-art gait rehabilitation robotic system. With the sufficient number of DoFs to enable natural-like walking, the CORBYS robotic system enables the integration of the "learning gait by therapist demonstration" paradigm. This paper presents the fully integrated functional CORBYS gait rehabilitation system, with the focus on the implementation aspects which enable generation of the reference gait trajectory through learning by therapist demonstration, and the use of the generated trajectory in the robotic therapy session. The results of the initial evaluation of the robotic system obtained in tests with a selected patient are given in the paper. operating modes were made functional, the Learning and Corrective modes respectively. In both operating modes, the

“…The details of the architecture can be found in [8]. Here, only a brief overview of the architecture with its specifics regarding control of the gait rehabilitation system is given.…”

Section: B Corbys Control Architecturementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Salge

Polani

et al. 2015

Self Cite

“…After developing a fast, continuous approximation of empowerment [2] we tested how the second CORBYS demonstrator would follow a human, if it was optimizing its trajectory using empowerment [3]. The result was that, even if the robot was currently at an optimal distance to the human, it would still improve its positioning so as to maximize empowerment and to locate itself at a position of high maneuverability.…”

Section: Empowermentmentioning

confidence: 99%

“…2. Visualization of the empowerment-based trajectory planning [3]. The blue cuboid represents the robot, the green cuboid is the human and, the other cuboids are obstacles.…”

Section: Empowermentmentioning

confidence: 99%

Information-theoretic measures as a generic approach to human-robot interaction

Salge

Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction

Ristić-Durrant

et al. 2014

Self Cite

The objective of the CORBYS project is to design and implement a robot control architecture that allows the integration of high-level cognitive control modules, such as a semantically-driven self-awareness module and a cognitive framework for anticipation of, and synergy with, human behaviour based on biologically-inspired information-theoretic principles. CORBYS aims to provide a generic control architecture to benefit a wide range of applications where robots work in synergy with humans, ranging from mobile robots such as robotic followers to gait rehabilitation robots. The behaviour of the two demonstrators, used for validating this architecture, will each be driven by a combination of task specific algorithms and generic cognitive algorithms. In this paper we focus on the generic algorithms based on information theory. Categories and Subject Descriptors ROBOTIC DEMONSTRATORSAs the first practical application of the CORBYS control architecture, a novel cognitive mobile gait rehabilitation system is being developed during the project's lifetime. The system comprises a mobile platform and a powered orthosis attached to the platform.The mobile platform will provide mobility for the patient while the powered orthosis will assist in completing his/her leg movements. CORBYS cognitive modules create appropriate commands for low-level robot control derived from the patient's intentions. The cognitive modules are supported by an advanced multi-sensor system consisting of physiological wearable sensors and EEG sensors for perception of the physical and psychological state of the patient. Through cognitive robot control, the CORBYS gait rehabilitation system will be a situationally-aware system capable of learning and reasoning to optimally match the requirements of the patient at different stages of rehabilitation in a range of gait disorders.The second CORBYS demonstrator is an existing mobile robot that follows a human co-worker during investigation of the environment. The robot is equipped with sensors to perceive and reconstruct the dynamic environment, including the location of the human co-worker. Supported by sensor measurements, the cognitive modules provide a trajectory to the low-level control which realizes a following behavior, whilst maintaining controllability and mobility of the robot. GENERIC COGNITIVE ABILITIESOne question being addressed in the CORBYS project is: Which generic cognitive abilities could benefit both demonstrators, and possibly, an even wider range of robots? Interacting with humans, as both demonstrators do, increases the need for generality, because human behavior is highly unpredictable, and therefore hard to account for in advance. In summary, we are looking for algorithms that can both deal with generic robot architectures and generic situations.One approach being realized in the CORBYS project is to use information-theoretic measurements to define and work towards certain desirable system properties, which can then be combined with task-dependent robot behavior. Informati...

“…The architecture was preliminary integrated to support the robotic follower presented in [6]. Here, only a brief overview of the architecture specifically regarding control of the gait rehabilitation system is given.…”

Section: Control Architecture Of the Corbys Gait Rehabilitation Systemmentioning

confidence: 99%

CORBYS Project Overview: Approach and Achieved Results

Ristić-Durrant

Slavnić

Biosystems &Amp; Biorobotics

2014

Self Cite

Abstract. The objective of the integrated EU FP7 project CORBYS is to design and implement a generic robot control architecture that allows the integration of high-level cognitive modules to support the functioning of the robot in dynamic environments including interaction with humans. As a practical application of the control architecture, a novel cognitive mobile gait rehabilitation system is being developed during the project's lifetime. The system consists of a mobile platform and a powered orthosis attached to the platform. The mobile platform will provide mobility for a patient, and the powered orthosis will assist the patient to complete his/her leg movements. The cognitive modules are supported by an advanced multi-sensor system consisting of various types of sensors integrated within the system, such as position and force sensors, as well of physiological wearable sensors and EEG sensors. Based on the sensor measurements the CORBYS cognitive modules will interpret the intention of the patient, and his/her physical and psychological state, and from these create appropriate commands for the lowlevel robot control. Through the cognitive robot control, the CORBYS gait rehabilitation system will be a situationally-aware system, capable of learning and reasoning to optimally match the requirements of the patient at different stages of rehabilitation, in a range of gait disorders.