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A feasible study of EEG-driven assistive robotic system for stroke rehabilitation

Hayashi, Y., Nagai, K., Ito, K., Nasuto, S. J., Loureiro, R. C. V. and Harwin, W. S. ORCID: (2012) A feasible study of EEG-driven assistive robotic system for stroke rehabilitation. In: 4th Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), 24-27 Jun 2012, Rome, Italy, pp. 1733-1739,

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To link to this item DOI: 10.1109/BioRob.2012.6290919


Stroke is a medical emergency and can cause a neurological damage, affecting the motor and sensory systems. Harnessing brain plasticity should make it possible to reconstruct the closed loop between the brain and the body, i.e., association of the generation of the motor command with the somatic sensory feedback might enhance motor recovery. In order to aid reconstruction of this loop with a robotic device it is necessary to assist the paretic side of the body at the right moment to achieve simultaneity between motor command and feedback signal to somatic sensory area in brain. To this end, we propose an integrated EEG-driven assistive robotic system for stroke rehabilitation. Depending on the level of motor recovery, it is important to provide adequate stimulation for upper limb motion. Thus, we propose an assist arm incorporating a Magnetic Levitation Joint that can generate a compliant motion due to its levitation and mechanical redundancy. This paper reports on a feasibility study carried out to verify the validity of the robot sensing and on EEG measurements conducted with healthy volunteers while performing a spontaneous arm flexion/extension movement. A characteristic feature was found in the temporal evolution of EEG signal in the single motion prior to executed motion which can aid in coordinating timing of the robotic arm assistance onset.

Item Type:Conference or Workshop Item (Paper)
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:31357
Uncontrolled Keywords:EEG measurements , EEG signal , EEG-driven assistive robotic system , brain plasticity , closed loop reconstruction , compliant motion generation , electroencephalogram , magnetic levitation joint , mechanical redundancy , medical emergency , motor recovery , motor systems , neurological damage , robot sensing , robotic arm assistance , sensory systems , somatic sensory feedback , spontaneous arm extension movement , spontaneous arm flexion movement , stroke rehabilitation , temporal evolution , upper limb motion


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