Integration of error augmentation training method to an assistive controller for rehabilitation robotic systems

Abstract

This paper presents an approach to enhance an assistive controller, which has been designed for robotic rehabilitation of the upper extremity after stroke, with an error augmentation training method. The assistive controller provides robotic assistance to the participant as and when needed, while position errors that are visually fed back to the participant are amplified to heighten the participant's motivation to improve tracking accuracy. Experimental results on unimpaired participants are presented to demonstrate the efficacy of the enhanced assistive controller.