3 research outputs found

    Investigation of novel control strategies for promoting motor learning in the upper limb with a haptic computer exercise system in able-bodied adults and those with motor impairments

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    Motor impairments caused by stroke and cerebral palsy (CP) are common and often affect the function of the upper limb, which to be restored requires rehabilitation. As positive outcome is correlated to how early and intensive therapy is and since the resources of the healthcare providers are limited, robotic devices have been introduced to provide adjunctive therapy. The algorithms that control the manner those devices apply forces to the impaired limb are called haptic control algorithms (HCA) and to this date there has not been conclusive evidence as to what the behaviour of these algorithms should be. One type of HCAs is error augmentation (EA) which is a rather understudied but promising approach. This work presents to the literature two novel control strategies of the EA type that incorporate adaptive features namely Error Augmenting Adaptive(EA) and Error Augmenting Proportional (EA). Those two algorithms were implemented for and deployed to a single point of attachment robotic rehabilitation system. The effectiveness in inducing motor learning of the developed algorithms was evaluated in a trial with able-bodied participants and compared against a third more established assistive HCA namely Assistance As Needed (AAN) and a control condition (no forces). Four groups (one per condition) practised reaching movements with a speed and accuracy requirement using their non-dominant arm to interact with the robot under a visual rotation of a 100o. To assess learning kinematic measures were collected to measure their performance on reaching and circle-drawing movements. Also, bilateral transfer to the arm that did not receive practice was assessed. Changes in the participants’ valence, arousal and dominance were assessed with a Self-Assessment Manikin questionnaire. All groups learned to move their non-dominant arm under a visual perturbation showing comparable improvements in all key measures (p<0.05). Passive movements and EAP led to greater improvement in movement smoothness (p<0.05) and resulted in more retention of the improvements after a washout block (p<0.05) was introduced. Conversely, EAA showed a better effect on improving mean velocity (p<0.05). All groups performed similarly in terms of improving movement error and duration but EAA and AAN achieved peak performance faster (p<0.05). Similar improvements were measured on the arm that did not receive any training which were fully retained post-washout indicating that bilateral transfer occurred and led to better retention (p<0.05). The findings of this work indicate that different attributes can be exploited from the developed HCAs to induce motor learning and improve different aspects of the movement suggesting that multimodal training protocols tailored to the needs of the patient are the way forward. Also, this work showed that bilateral transfer training has great potential in upper limb rehabilitation and the positive effects of the different HCAs on the arm that received practice transfer to the one that did not receive training. It is recommended that the findings of this work to be further investigated in experimental therapy protocols for those who suffer from neurological impairments such stroke and CP

    Génération automatique d'implémentation distribuée à partir de modèles formels de processus concurrents asynchrones

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    LNT is a recent formal specification language, based on process algebras, where several concurrent asynchronous processes can interact by multiway rendezvous (i.e., involving two or more processes), with data exchange. The CADP (Construction and Analysis of Distributed Processes) toolbox offers several techniques related to state space exploration, like model checking, to formally verify an LNT specification. This thesis introduces a distributed implementation generation method, starting from an LNT formal model of a parallel composition of processes. Taking advantage of CADP, we developed the new DLC (Distributed LNT Compiler) tool, which is able to generate, from an LNT specification, a distributed implementation in C that can be deployed on several distinct machines linked by a network. In order to handle multiway rendezvous with data exchange between distant processes in a correct and efficient manner, we designed a synchronization protocol that gathers different approaches suggested in the past. We set up a verification method for this kind of protocol, which, using LNT and CADP, can detect livelocks or deadlocks due to the protocol, and also check that the protocol leads to valid interactions with respect to a given specification. This method allowed us to identify possible deadlocks in a protocol from the literature, and to verify the good behavior of our own protocol. We also designed a mechanism that enables the final user, by embedding user-defined C procedures into the implementation, to set up interactions between the generated implementation and other systems in the environment. Finally, we used the new consensus algorithm Raft as a case study, in particular to measure the performances of an implementation generated by DLC.LNT est un langage formel de spécification récent, basé sur les algèbres de processus, où plusieurs processus concurrents et asynchrones peuvent interagir par rendez-vous multiple, c'est-à-dire à deux ou plus, avec échange de données. La boite à outils CADP (Construction and Analysis of Distributed Processes) offre plusieurs techniques relatives à l'exploration d'espace d'états, comme le model checking, pour vérifier formellement une spécification LNT. Cette thèse présente une méthode de génération d'implémentation distribuée à partir d'un modèle formel LNT décrivant une composition parallèle de processus. En s'appuyant sur CADP, nous avons mis au point le nouvel outil DLC (Distributed LNT Compiler), capable de générer, à partir d'une spécification LNT, une implémentation distribuée en C qui peut ensuite être déployée sur plusieurs machines distinctes reliées par un réseau. Pour implémenter de manière correcte et efficace les rendez-vous multiples avec échange de données entre processus distants, nous avons élaboré un protocole de synchronisation qui regroupe différentes approches proposées par le passé. Nous avons mis au point une méthode de vérification de ce type de protocole qui, en utilisant LNT et CADP, permet de détecter des boucles infinies ou des interblocages dus au protocole, et de vérifier que le protocole réalise des rendez-vous cohérents par rapport à une spécification donnée. Cette méthode nous a permis d'identifier de possibles interblocages dans un protocole de la littérature, et de vérifier le bon comportement de notre propre protocole. Nous avons aussi développé un mécanisme qui permet, en embarquant au sein d'une implémentation des procédures C librement définies par l'utilisateur, de mettre en place des interactions entre une implémentation générée et d'autres systèmes de son environnement. Enfin, nous avons appliqué DLC au nouvel algorithme de consensus Raft, qui nous sert de cas d'étude, notamment pour mesurer les performances d'une implémentation générée par DLC

    Génération automatique d'implémentation distribuée à partir de modèles formels de processus concurrents asynchrones

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    LNT is a recent formal specification language, based on process algebras, where several concurrent asynchronous processes can interact by multiway rendezvous (i.e., involving two or more processes), with data exchange. The CADP (Construction and Analysis of Distributed Processes) toolbox offers several techniques related to state space exploration, like model checking, to formally verify an LNT specification. This thesis introduces a distributed implementation generation method, starting from an LNT formal model of a parallel composition of processes. Taking advantage of CADP, we developed the new DLC (Distributed LNT Compiler) tool, which is able to generate, from an LNT specification, a distributed implementation in C that can be deployed on several distinct machines linked by a network. In order to handle multiway rendezvous with data exchange between distant processes in a correct and efficient manner, we designed a synchronization protocol that gathers different approaches suggested in the past. We set up a verification method for this kind of protocol, which, using LNT and CADP, can detect livelocks or deadlocks due to the protocol, and also check that the protocol leads to valid interactions with respect to a given specification. This method allowed us to identify possible deadlocks in a protocol from the literature, and to verify the good behavior of our own protocol. We also designed a mechanism that enables the final user, by embedding user-defined C procedures into the implementation, to set up interactions between the generated implementation and other systems in the environment. Finally, we used the new consensus algorithm Raft as a case study, in particular to measure the performances of an implementation generated by DLC.LNT est un langage formel de spécification récent, basé sur les algèbres de processus, où plusieurs processus concurrents et asynchrones peuvent interagir par rendez-vous multiple, c'est-à-dire à deux ou plus, avec échange de données. La boite à outils CADP (Construction and Analysis of Distributed Processes) offre plusieurs techniques relatives à l'exploration d'espace d'états, comme le model checking, pour vérifier formellement une spécification LNT. Cette thèse présente une méthode de génération d'implémentation distribuée à partir d'un modèle formel LNT décrivant une composition parallèle de processus. En s'appuyant sur CADP, nous avons mis au point le nouvel outil DLC (Distributed LNT Compiler), capable de générer, à partir d'une spécification LNT, une implémentation distribuée en C qui peut ensuite être déployée sur plusieurs machines distinctes reliées par un réseau. Pour implémenter de manière correcte et efficace les rendez-vous multiples avec échange de données entre processus distants, nous avons élaboré un protocole de synchronisation qui regroupe différentes approches proposées par le passé. Nous avons mis au point une méthode de vérification de ce type de protocole qui, en utilisant LNT et CADP, permet de détecter des boucles infinies ou des interblocages dus au protocole, et de vérifier que le protocole réalise des rendez-vous cohérents par rapport à une spécification donnée. Cette méthode nous a permis d'identifier de possibles interblocages dans un protocole de la littérature, et de vérifier le bon comportement de notre propre protocole. Nous avons aussi développé un mécanisme qui permet, en embarquant au sein d'une implémentation des procédures C librement définies par l'utilisateur, de mettre en place des interactions entre une implémentation générée et d'autres systèmes de son environnement. Enfin, nous avons appliqué DLC au nouvel algorithme de consensus Raft, qui nous sert de cas d'étude, notamment pour mesurer les performances d'une implémentation générée par DLC
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