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Abracadabra professional
1. Abracadabra
Robotics Friend For
Physiotherapy After Stroke
Dr. Marina Fridin, CTO
May I help
you?
You? Really?
Engineering Conference, Novel
Technology for people with special needs,
Ruppin Academic Center, 2014
2. Definition of Stroke
• Sudden brain damage
• Lack of blood flow to the brain caused by a
clot or rupture of a blood vessel
Ischemic = Clot
(makes up approximately
87% of all strokes)
Hemorrhagic = Bleed
- Bleeding around brain
- Bleeding into brain
Embolic Thrombotic
3. Social Assistive Robotics (SAR),
scientific concept
- SAR is the class of robots that provide various types of
assistance to various vulnerable populations primarily through
social, rather than physical interaction.
• POPULATIONS:
– Elderly:
• Post- stroke rehabilitation, Matarić, et al., 2007
• Alzheimer’s disease , Tapus et..al. ,2009
• Hospital delivery robot, Mutlu & Forlizzi ,2008
• Nursing home residents , Wada et.al. , 2004
– Children, mainly for children with autism spectrum
disorders (ASD)
• Scassellati, et al. 2007.
• Robins, et al., 2005.
4. Factors that influence recovery
following a stroke
Abracadabra can not
influence
Abracadabra could
influence
• Time passed before medical intervention
is initiated
• What part of the brain was affected
• The size of the area affected
• The patient’s age
• The patient’s fitness level before the
stroke
• Patient’s premorbid cognitive level
• Additional medical problems
•Patient’s emotional state/motivation
level
•Family support
•Environmental and social influences
•Time passed since stroke occurred
•Amount of therapy received
(especially in the first 12 months)
! Each stroke is different therefore it is difficult to predict the
amount of recovery that will occur in the affected side.
5. Principles of design Stroke Rehabilitation
Procedure of Abracadabra
Interdisciplinary Team participate in the
design and implementation of the system
Uses Learning Theory:
– Graded Levels of Task Difficulty
– Opportunities for Repetition of Skill
Performance
– Professional Supervision and Feedback
– “Protected Practice”
6. Examples of Stroke Rehabilitation Interventions
ABRACADABRA could participate
Functional Skills Training
− Personal Care Skills
− Mobility Activities
− Instrumental Activities of Daily Living
Therapeutic Exercises
− Flexibility
− Strength
− Coordination
− Fitness
Visual fields – treatment
− Increase awareness
− Compensatory oculomotor strategies
− Audio-visual stimulation
− Compensatory head movement
− Reading and writing
Speech therapy
− Communication/language
− Speech
− Voice Quality
− Fluency (stuttering)
− Cognition/neglect
− Swallowing
Cognition
− Orientation (who, when, where, why)
− Attention
− Memory (usually with immediate or sho
term memory)
− Problem solving
− Reasoning
− Insight/safety awareness
7. The system
• 2 versions of the robot: fully functional
and restricted
• Virtual version of the robot
• Connected Devices, including sensory
system for colleting of the patient data
(motor/cognitive performances etc.)
• Connections to the therapeutically
devices (including Virtual Reality and
computer games)
• Computer-based system for rehabilitation
team ( including reports of patient
progress, definition of the tasks ect.)
8. Abracadabra for different
Rehabilitation Services
The robot with full functionality:
Rehabilitation unit in the hospital
Home with outpatient therapy
Long-term care facility
Community-based programs
Restricted version of the robot or it’s virtual
agent
Home-bound therapy (tele-medicine)
9. Hello Darling, how are you today?
I can not get it? Could you move it
more forward for me?
Motor Actions:
Example
Hello Robot!
Patient Personal
Information
Task Definition
Robot Activation
I am so parched, could you please
give a cup of water?
Report Next
Task
Emotional Status
Performance
10. Motor learning approach
- Based on the principles of
• Repetition
• Adaptation
• Appropriate feedback
• Random practice and
• Enriched environment
Particularly adjusted
to the learning stage
and task component
11. Skill acquisition
The patient: Who? The task: What? The context: Where?
Age
Experience
Motivation
Memory
Ability
Discrete/Serial/Cont.
Closed/Open
Gross/Fine
Accuracy kind
Program/Plan
Clinical
Home
Presence of others
Task variability
Stage of learning
Preparation Presentation Structure
Goals
Transfer
Context
Performance
measures
Instructions
Demonstration
Guidance
Simulators
Part practice
Mental practice
Random/Blocked
Random/Varied
Massed/Distributed
Feedback
KR/KP
Descript./Prescript
Type of feedback
Amount
Frequency
12. ABRACADABRA
Body Structure & Functions Activity Participation
Environmental
Factors
Personal
Factors
Therapist Abracadabra
Health condition (disorder or disease)
Hands on
Conceptual Interference
Environment Taxonomy
Learning Algorithm
Hands off
Human-Robot Interaction
Motor GamesMotor Actions
Adaptation to personality, mood and motor performance
Motivation: feedback, mirroring effect
Team Decomposition
13. The scheme of the ABRACADABRA
modules and data flow
Low-level Perception
• Kinect: Motion processing
• Robot’s Video:
High color saturation filters
Skin-color filters
Edge detection
Disparity computation
• Robot’s Sensors: Data filtering
Motor module
• Visual-motor skills
• Manipulation skills (reaching/ grasping)
• Expressive skills (bodily/facial/vocalizations)
Attention module
• Attention on a child with fastest/slowest reactions
• Attention on a child defined by physiotherapist
Motivation module
• Positive-negative reinforcement
• Qualitive and quantative feedback
• Empathy and mirroring effect
Behavior module
• Behavior selection
• Decomposition to the set of
operations: body movements,
operational vocabulary,
sounds, emotional
expressions
High-level Perception
• Visual:
Scene analysis and segmentation
Face and eye detection
Whole body labeling
Subjects identification
Gaze direction
Emotional Recognition
• Kinect: Extremities movement analysis
• Sensory Data fusion
Adaptation module
• Adjustment to the stage of motor learning
• Mood and current success level
• Personality matching: hyperactive/passive
Information analysis module
• Subject’s motor behavior analysis
• Subject’s cognitive behavior analysis
• Monitoring of the level of interaction strength
• Recognition of subjects attention state
Input
• Robot: Sensors data, including Scene video
• Kinect: Movement tracking
• Physiotherapist: Settings
Personal and Anthropometric data
Functional (pathological) restrictions
Tasks difficulty
Session scenario components
Safety module
• Avoid children in robot’s working space
Databas
e
Self-awareness module
• Error detection/Success measuring
Locomotion, Falling, Manipulation
• Robot localization
Personal Information
Pathology characteristics: GMFCS,
Altered side, Assistive device
Motor functions : Time of sit-stand
initiation, Symmetry of holding arms
Child-Robot Interaction Measurements:
Emotional status, Responsiveness
Environment: Place, # participants
14. Conclusions
● Every person is different and no one can be sure how quickly or how far you
or your family member will progress.
● Rehab is often a long process.
● Complete recovery is not always possible, however, living an enjoyable life
is still within reach.
● ABRACADABRA is feasible and promising , a new research area of social
assistive technology with immeasurable potential
● Assistive robotic platforms can be used in the near future in hospitals and
homes, in training and therapeutic programs that monitor, encourage, and
assist their users
● ABRACADABRA may stimulate the development of new treatments for a
wide variety of diseases and disorders through effective physiotherapy
practice