A Gaussian Mixture Framework for Co-Operative Rehabilitation Therapy in Assistive Impedance-Based Tasks.

Rehabilitation robots can aid patients to practice activities of daily living in order to enhance muscle strength and recover motor functions. In this paper, we focus on robot-assisted rehabilitation for co-operative therapy tasks that elicit impedance-based behaviors from the patient. For instance, if the rehabilitation robot is controlled to behave as a self-closing door and if pulling this simu...