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Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
Abracadabra professional
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Abracadabra professional

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  • 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

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