Skip to main content

Table 6 Glossary of terms concerning control strategy of robots for rehabilitation

From: A survey on robotic devices for upper limb rehabilitation

Term Description
“High-level” control strategy A control strategy with control algorithms explicitly designed to induce motor plasticity.
Assistive control A “high-level” control strategy in which a device provides the physical assistance to aid the patient in accomplishing an intended movement.
Challenge-based control A “high-level” control strategy in which a device challenges the patient to accomplish an intended movement.
Haptic stimulation A “high-level” control strategy in which a robotic device is used as a haptic interface to perform activities in virtual reality environment.
Couching control A “high-level” control strategy in which a robotic device neither physically assists nor resists the movement of the subject. It only quantifies and provides feedback (visual, acoustic or other) concerning the performance of the subject during exercise.
“Low-level” control strategy A control strategy considered in the implementation of the “high-level” control strategy in a device by appropriate control of the force, position, impedance or admittance.
Admittance control A “low-level” control strategy in which the force exerted by the user is measured, and the device generates the corresponding displacement.
Impedance control A “low-level” control strategy in which the motion of the limb is measured and the robot provides the corresponding force feedback.
  1. This terminology is mostly based on the one proposed by Marchal-Crespo and Reinkensmeyer [193].