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Testing models of cerebellar ataxia via dynamic simulation

Published online by Cambridge University Press:  23 September 2014

David Grow ,
Amy J. Bastian  and
Allison M. Okamura
David Grow*
Affiliation:
Department of Mechanical Engineering, New Mexico Institute of Mining and Technology, Socorro, NM 87801, USA. E-mail: [email protected]
Amy J. Bastian
Affiliation:
John Hopkins School of Medicine, Baltimore, MD 21205, USA
Allison M. Okamura
Affiliation:
Mechanical Engineering Department, Stanford University, Stanford, CA 94305, USA
*
*Corresponding author. E-mail: [email protected]
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Summary

Patients with damage to the cerebellum make reaching movements that are uncoordinated or “ataxic.” One prevailing hypothesis is that the cerebellum functions as an internal model for planning movements, and that damage to the cerebellum results in movements that do not properly account for arm dynamics. An exoskeleton robot was used to record multi-joint reaching movements. Subsequently, joint-torque trajectories were calculated and a gradient descent algorithm found optimal, patient-specific perturbations to actual limb dynamics predicted to reduce directional reaching errors by an average of 41%, elucidating a promising form of robotic intervention and adding support to the internal model hypothesis.

Keywords

Robotic assistanceRehabilitationCerebellar ataxia
Type
Articles
Information
Robotica , Volume 32 , Issue 8: Rehabilitation Robotics and Human-Robot Interaction , December 2014 , pp. 1383 - 1397
Copyright
Copyright © Cambridge University Press 2014 

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