Robust Loop-Shaping Control Design and Implementation for an Automatic Neuro-Developmental-Treatment Device

This paper applies robust control to an automated device that are developed to assist neuro-developmental treatment (NDT) rehabilitation. NDT training is an effective rehabilitation for stroke patients but labor-intensive for therapists. Hence, patients usually do not have sufficient training because of the shortage of therapist assistance. The purpose of this paper is to develop an automated device that can help NDT training and reduce therapists' workloads. We first record the therapist's actions and the test subject's motions during NDT training. Then we develop an automatic NDT trainer that can repeat the therapist's intervention by motor control systems. We apply robust loop-shaping control to cope with the system variation during the training. Last, we conduct experiments and discuss the effectiveness of the designed NDT trainer by two specified performance indexes.