Abstract: A method and apparatus for automated arm training includes at least one therapeutic device that includes a handle, a sensor assembly, and a display. The handle is configured to move along a path. The sensor assembly is configured to provide a measured time series made up of multiple handle location measurements at a corresponding multiple of measured time instances. The display is configured to present an image based on the measured time series. A robot motor can be configured to keep the handle moving near a tolerance of a target trajectory.

Abstract: A method is described for providing deficit-adjusted adaptive assistance during movement phases of an impaired ankle. The method includes determining, on the processor, a value for a deficit parameter for each movement phase of a compound ankle function based on a difference between a parameter trace for a normal subject and the parameter trace for an impaired subject. The method further includes determining, on the processor, an adaptive magnitude for the robot-applied torque based on the value for the deficit parameter. The method further includes applying, to the robot joint, the adaptive magnitude for the robot-applied torque in only a first plane for the current movement phase, based on an adaptive timing. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired ankle.

Abstract: A method is described for providing deficit-adjusted adaptive assistance during movement phases of an impaired ankle. The method includes determining, on the processor, a value for a deficit parameter for each movement phase of a compound ankle function based on a difference between a parameter trace for a normal subject and the parameter trace for an impaired subject. The method further includes determining, on the processor, an adaptive magnitude for the robot-applied torque based on the value for the deficit parameter. The method further includes applying, to the robot joint, the adaptive magnitude for the robot-applied torque in only a first plane for the current movement phase, based on an adaptive timing. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired ankle.

Abstract: A method includes determining, on a processor, a current movement phase for a compound joint function based on sensor data. The method further includes determining, on the processor, a respective robot state parameter trace for each movement phase in a normal and impaired subject. The method further includes determining, on the processor, a deficit parameter for each movement phase. The method further includes determining, on the processor, an adaptive magnitude for the robot applied torque based on the deficit parameter of the current movement phase. The method further includes applying, to the robot joint, the adaptive magnitude for the robot applied torque for the current movement phase, based on an adaptive timing for the current movement phase. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired joint.

Abstract: A method is described for providing deficit-adjusted adaptive assistance during movement phases of an impaired joint. The method includes determining, on a processor, a current movement phase for a compound joint function based on sensor data. The method further includes determining, on the processor, a respective robot state parameter trace for each movement phase in a normal and impaired subject. The method further includes determining, on the processor, a deficit parameter for each movement phase. The method further includes determining, on the processor, an adaptive magnitude for the robot applied torque based on the deficit parameter of the current movement phase. The method further includes applying, to the robot joint, the adaptive magnitude for the robot applied torque for the current movement phase, based on an adaptive timing for the current movement phase. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired joint.