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A three-layer planning architecture for the autonomous control of rehabilitation therapies based on social robots

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dc.affiliation.dptoUC3M. Departamento de Informáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Planificación y Aprendizajees
dc.contributor.authorGonzález Dorado, José Carlos
dc.contributor.authorPulido Pascual, José Carlos
dc.contributor.authorFernández Rebollo, Fernando
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2020-01-13T15:50:45Z
dc.date.available2020-01-13T15:50:45Z
dc.date.issued2017-06-01
dc.description.abstractThis manuscript focuses on the description of a novel cognitive architecture called NAOTherapist, which provides a social robot with enough autonomy to carry out a non-contact upper limb rehabilitation therapy for patients with physical impairments, such as cerebral palsy and obstetric brachial plexus palsy. NAOTherapist comprises three levels of Automated Planning. In the high-level planning, the physician establishes the parameters of the therapy such as the scheduling of the sessions, the therapeutic objectives to be achieved and certain constraints based on the medical records of the patient. This information is used to establish a customized therapy plan. The objective of the medium-level planning is to execute and monitor every previous planned session with the humanoid robot. Finally, the low-level planning involves the execution of path-planning actions by the robot to carry out different low-level instructions such as performing poses. The technical evaluation shows an accurate definition and monitoring of the therapies and sessions and a fluent interaction with the robot. This automated process is expected to save time for the professionals while guaranteeing the medical criteria.en
dc.description.sponsorshipThis work is partially funded by grant TIN2015-65686-C5-1-R and TIN2012-38079-C03-02 of Spanish Ministerio de Economía y Competitividad.en
dc.format.extent17
dc.identifier.bibliographicCitationGonzalez, J. C., Pulido, J.C., Fernández, F. A three-layer planning architecture for the autonomous control of rehabilitation therapies based on social robots. Cognitive Systems Research, 43(2017), pp. 232-249en
dc.identifier.doihttps://doi.org/10.1016/j.cogsys.2016.09.003
dc.identifier.issn1389-0417
dc.identifier.publicationfirstpage232
dc.identifier.publicationlastpage249
dc.identifier.publicationtitleCognitive Systems Researchen
dc.identifier.publicationvolume43
dc.identifier.urihttps://hdl.handle.net/10016/29437
dc.identifier.uxxiAR/0000020111
dc.language.isoenges
dc.publisherElsevieren
dc.relation.projectIDGobierno de España. TIN2015-65686-C5-1-Res
dc.relation.projectIDGobierno de España. TIN2012-38079-C03-02es
dc.rights© 2016 Elsevier B.V. All rights reserved.en
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaInformáticaes
dc.subject.otherRehabilitation therapiesen
dc.subject.otherHuman-robot interactionen
dc.subject.otherAutomated planningen
dc.subject.otherSocially assistive roboticsen
dc.subject.otherRobotic architectureen
dc.titleA three-layer planning architecture for the autonomous control of rehabilitation therapies based on social robotsen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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