This manuscript focuses on the description of a novel cognitive architecture called NAOTherapist, which provides a social robot with enough autonomy to carry out a non-contact upper limb rehabilitation therapy for patients with physical impairments, such as cerebral palsy and obstetric brachial plexus palsy. NAOTherapist comprises three levels of Automated Planning. In the high-level planning, the physician establishes the parameters of the therapy such as the scheduling of the sessions, the therapeutic objectives to be achieved and certain constraints based on the medical records of the patient. This information is used to establish a customized therapy plan. The objective of the medium-level planning is to execute and monitor every previous planned session with the humanoid robot. Finally, the low-level planning involves the execution of path-planning actions by the robot to carry out different low-level instructions such as performing poses. The technical evaluation shows an accurate definition and monitoring of the therapies and sessions and a fluent interaction with the robot. This automated process is expected to save time for the professionals while guaranteeing the medical criteria. ; This work is partially funded by grant TIN2015-65686-C5-1-R and TIN2012-38079-C03-02 of Spanish Ministerio de Economía y Competitividad.


    Access

    Download


    Export, share and cite



    Title :

    A three-layer planning architecture for the autonomous control of rehabilitation therapies based on social robots



    Publication date :

    2017-06-01


    Remarks:

    AR/0000020111



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    NAOTherapist: autonomous assistance of physical rehabilitation therapies with a social humanoid robot

    Pulido Pascual, José Carlos / González Dorado, José Carlos / Fernández Rebollo, Fernando | BASE | 2016

    Free access


    A task control architecture for autonomous robots

    Simmons, Reid / Mitchell, Tom | NTRS | 1990


    MULTI-LAYER AUTONOMOUS VEHICLE CONTROL ARCHITECTURE

    LEFEVRE PIERRE MICHEL / ROYERE CYRIL GAEL | European Patent Office | 2022

    Free access

    MULTI-LAYER AUTONOMOUS VEHICLE CONTROL ARCHITECTURE

    LEFEVRE PIERRE / ROYERE CYRIL | European Patent Office | 2022

    Free access