Print Email Facebook Twitter Biomechanics Aware Collaborative Robot System for Delivery of Safe Physical Therapy in Shoulder Rehabilitation Title Biomechanics Aware Collaborative Robot System for Delivery of Safe Physical Therapy in Shoulder Rehabilitation Author Prendergast, J.M. (TU Delft Biomechatronics & Human-Machine Control) Balvert, Stephan (Student TU Delft) Driessen, Tom (Student TU Delft) Seth, A. (TU Delft Biomechatronics & Human-Machine Control) Peternel, L. (TU Delft Human-Robot Interaction) Date 2021 Abstract In this work, we explore using computational musculoskeletal modeling to equip an industrial collaborative robot with awareness of the internal state of a patient to safely deliver physical therapy. A major concern of robot-mediated physical therapy is that robots may unwittingly injure patients. For patients with shoulder injuries this typically means the risk of tearing a rotator-cuff muscle tendon. Risk of reinjury hampers both human and robot therapists and it is the main reason for conservative physical therapy. Advances in human musculoskeletal modeling, however, can equip robots with additional perception of potential reinjury risks. While the ultimate goal is to improve the safety, range-of-motion and activity that patients receive through robot-mediated therapy, the aim of this letter is to develop and test a framework that enables the robot to understand the state of the patient and to execute physical therapy movements that demonstrate low injury risk and achieve a large range-of-motion in human subjects. We build on prior work in human-robot interaction via impedance control, but take robot awareness of the human to the next level by including and manipulating a musculoskeletal model in parallel to the patient. Taking the most common shoulder impairments (i.e., rotator-cuff tears) as an example, we demonstrate planned, model-based trajectories that minimize strain in these muscles and corresponding robot-mediated movements on healthy subjects. Our experiments suggest that musculoskeletal awareness is a promising approach to plan and deliver therapeutic movements that are safe and effective via an industrial robot. Subject Biological system modelingBiomechanicsHuman-robot interactionMedical treatmentmodel-based awarenessMusclesmusculoskeletal modelingOpenSimphysical therapy robotRobotsStrainTendons To reference this document use: http://resolver.tudelft.nl/uuid:b3237dd3-f0fe-49c4-94e0-e9608aa46d7e DOI https://doi.org/10.1109/LRA.2021.3097375 ISSN 2377-3766 Source IEEE Robotics and Automation Letters, 6 (4), 7177-7184 Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type journal article Rights © 2021 J.M. Prendergast, Stephan Balvert, Tom Driessen, A. Seth, L. Peternel Files PDF PTBOT_RAL_2021_Accepted.pdf 7.41 MB Close viewer /islandora/object/uuid:b3237dd3-f0fe-49c4-94e0-e9608aa46d7e/datastream/OBJ/view