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Table 1 List of parameters used to compute the smoothness metric (ε sm ), output of the adaptive oscillator (AO), and gains of the assistance forces (gain tuner)

From: Performance-based robotic assistance during rhythmic arm exercises

  Parameter Sim. data and learning Pat. data
ε sm a 0.004 0.004
AO ν ϕ 7.33 2.2
  ν ω 2.22 0.2
  η 0.67 0.2
Gain tuner τ g 1 1
  ε m i n,s m 0.0025 0.0025
  ε m i n,v e l 0 0
  ε m i n,a m p 0 0
  ε m a x,s m 0.009 0.009
  ε m a x,,v e l 1 1
  ε m a x,a m p 1 1
  1. The column “Sim. data and learning” contains the values of the parameters used in the validation with simulated data and in the learning phase of the patient performance. The second column “Pat. data” shows values used during the assisted trials with the pilot patients. The adaptive oscillator gains were tuned using a published method [56] to obtain fast (τ=3s) and slow (τ=10s) learning time constants, respectively for both columns