Designing Personalised Rehabilitation Controllers using Offline Model-Based Optimisation

Andreas Christou, Daniel Gordon, Theodoros Stouraitis, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

The use of robotic assistance in rehabilitation is becoming more popular, yet delivering optimal assistance remains an open challenge. In order to accelerate a patient’s recovery, assistance that is personalised to the needs of the patient is required. However, controllers of rehabilitation robots have traditionally been designed and tuned heuristically, through trial and error, with one set of parameters used across several patients. In this paper, we propose an offline model-based optimisation approach, which can be used to create personalised rehabilitation controllers. We formulate the process of designing and tuning a rehabilitation controller as a multi-objective optimisation problem, and we solve this problem using Bayesian optimisation. We evaluate our method with forward dynamics simulations and the results demonstrate that a set of controller parameters can be obtained that are both patient-specific and task-specific. Our approach could be used for the personalisation of controllers designed for rehabilitation, injury prevention and human augmentation.
Original languageEnglish
Title of host publicationProceedings of the 2022 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages148-155
Number of pages8
ISBN (Electronic)978-1-6654-8109-0
ISBN (Print)978-1-6654-8110-6
DOIs
Publication statusPublished - 18 Jan 2023
EventThe 2022 IEEE International Conference on Robotics and Biomimetics - Xishuangbanna, China
Duration: 5 Dec 20229 Dec 2022
http://robio2022.org/index.html

Conference

ConferenceThe 2022 IEEE International Conference on Robotics and Biomimetics
Abbreviated titleROBIO 2022
Country/TerritoryChina
CityXishuangbanna
Period5/12/229/12/22
Internet address

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