Robotic Rehabilitation

Designed a Variable Impedance Controller that adjusts the impedance parameters based on the user’s kinematic data to provide personalized assistance.
Bayesian optimization is employed to minimize an objective function formulated from the user’s kinematic data to adapt the impedance parameters per user, thereby enhancing speed and accuracy.
Employed Bayesian Optimization and Student-t Process Regression for robust Variable Impedance Control design and user-adaptive parameter tuning.
Gaussian process is used as a surrogate model for optimization to account for uncertainties and outliers inherent to human experiments.
Student-t process based outlier detection is utilized to enhance optimization robustness and accuracy.
Communication network was set up over ethernet for data transfer between anklebot and the server running Bayesian Optimization for real-time control.
The efficacy of the optimization is evaluated based on measures of speed, accuracy, and effort, and compared with an untuned variable impedance controller during 2D curved trajectory following tasks.
The optimized controller was evaluated on 15 healthy subjects and demonstrated an average increase in speed of 9.85% and a decrease in deviation from the ideal trajectory of 7.57%, compared to an unoptimized variable impedance controller. The strategy also reduced the time to complete tasks by 6.57%, while maintaining a similar level of user effort.

Gautham Manoharan