A Framework for Adaptation of Training Task, Assistance and Feedback for Optimizing Motor (Re)-Learning With a Robotic Exoskeleton
A Framework for Adaptation of Training Task, Assistance and Feedback for Optimizing Motor (Re)-Learning With a Robotic Exoskeleton
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DOI：
10.1109/lra.2019.2891431
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发表时间：
2019-04-01
影响因子：
5.2
通讯作者：
Deshpande, Ashish D.
中科院分区：
文献类型：
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作者：
Agarwal, Priyanshu;Deshpande, Ashish D.
使用机器人外骨骼的运动（再）学习可通过理解什么构成可使运动学习最大化的受试者的最佳训练环境来改进。我们提出了一个框架，用于电机（再）学习使用机器人外骨骼，提供特定于主题的培训，通过适应一个或多个因素，构成的训练环境（训练任务，援助和反馈）的基础上的表现的主题上的任务。我们提出了一个扭矩为基础的任务，要求受试者动态调节他们的关节力矩灵巧的操作训练和适应任务的难度，根据他们的表现。我们还提出了一个自适应阻抗控制的机器人外骨骼之间的过渡错误增强和触觉指导训练的基础上的性能。此外，我们提出了一个自适应的视觉反馈方法，改变的透明度的反馈的基础上的性能。我们进行了一项研究，10个健康的人类受试者（5个训练组）使用手外骨骼，以评估是否适应任务，援助（辅助扭矩从外骨骼），和反馈（视觉描绘的扭矩轨迹）可以调制的挑战和影响运动学习。一半的参与者使用适应性训练范式（任务，援助和反馈都根据性能进行调整）进行培训，另一半使用非适应性训练范式。多重比较检验显示，适应性训练后的表现得分显著低于非适应性训练（MD：62.6，95% CI：42.65-82.55，p < 0.0001），表明任务、协助和反馈方面的适应可以调节挑战并显著影响运动学习。
Motor (re)-learning using a robotic exoskeleton can be improved by understanding what constitutes the optimal training environment for a subject that can maximize motor learning. We present a framework for motor (re)-learning using a robotic exoskeleton that provides subject-specific training by adapting one or more factors that constitute the training environment (training task, assistance, and feedback) based on the performance of the subject on the task. We present a torque-based task that requires subjects to dynamically regulate their joint torques for dexterous manipulation training and adapt the difficulty of the task based on their performance. We also present an adaptive impedance control for the robotic exoskeleton that transitions between error augmentation and haptic guidance training based on performance. Furthermore, we present an adaptive visual feedback approach that changes the transparency of the feedback based on performance. We conduct a study with ten healthy human subjects (five per training group) using a hand exoskeleton to evaluate if adaptations in task, assistance (assistive torque from the exoskeleton), and feedback (visual depiction of the torque trajectories) can modulate challenge and affect motor learning. Half of the participants were trained using an adaptive training paradigm (task, assistance, and feedback all adapted based on performance) and the other half with a nonadaptive training paradigm. A multiple comparison test showed that performance scores after adaptive training were significantly lower than nonadaptive training (MD: 62.6, 95% CI: 42.65-82.55, p < 0.0001) demonstrating that adaptations in task, assistance, and feedback can modulate challenge and significantly affect motor learning.