Abracadabra professional


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Abracadabra professional

  1. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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