Real-Time Trajectory Optimization in Robot-Assisted Exercise and Rehabilitation

TL;DR

This paper presents a real-time, model-free optimization method using Extremum Seeking Control to enhance training efficiency in robot-assisted exercise by optimizing trajectory parameters based on muscle activation biofeedback.

Contribution

It introduces a novel application of ESC for real-time, model-free optimization of exercise trajectories tailored to individual physiological responses.

Findings

Feasibility demonstrated for automatic regulation of trajectory orientation

Identified two local optimal orientations for ellipsoidal curve

Method adaptable to other physiological biofeedback signals

Abstract

This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recruitment patterns depend on trajectory parameters of the AEMs and correlate with the efficiency of exercise. Thus, improvements to training efficiency may be achieved by optimizing these parameters. The optimal regulation of these parameters is challenging because of the complexity of the physiological dynamics from person to person as a result of the unique physical features such as musculoskeletal distribution. Furthermore, these effects can vary due to fatigue, body temperature, and other physiological factors. In this paper, a model-free optimization method using Extremum Seeking Control (ESC) as a real-time optimizer is proposed. After selecting a muscle objective, this method seeks for the optimal combination of parameters using the muscle activations as biofeedback. The muscle objective can be selected by a therapist to emphasize or de-emphasize certain muscle groups. The feasibility of this method has been proven for the automatic regulation of an ellipsoidal curve orientation, suggesting the existence of two local optimal orientations. This methodology can also be applied to other parameter regulations using a different physiological effects such as oxygen consumption and heart rate as biofeedback.