Therapeutic robotics: challenges of controlling physical interaction

Abstract

Robotic technology can: (i) deliver therapy to aid recovery after neurological disease; (ii) replace limb function following amputation; and (iii) provide assistance to restore function. This exciting new frontier of robotic applications requires sensitive but forceful physical interaction with a human, yet physical contact can severely de-stabilize robots. Despite these challenges, clinical evidence shows that robot therapy is both effective and cost-effective. Motorized amputation prostheses present even greater challenges. They must manage physical interaction with objects in the world as well as with the amputee. This presentation will review how machine mimicry of natural control provides the gentleness required for robotic therapy and enables seamless coordination of natural and prosthetic limbs. A pre-requisite for success in these applications is a quantitative knowledge of the human motor control system.