Testing models of cerebellar ataxia via dynamic simulation

David Grow, Amy J Bastian, Allison M. Okamura

Research output: Contribution to journalArticle

Abstract

Patients with damage to the cerebellum make reaching movements that are uncoordinated or "ataxic." One prevailing hypothesis is that the cerebellum functions as an internal model for planning movements, and that damage to the cerebellum results in movements that do not properly account for arm dynamics. An exoskeleton robot was used to record multi-joint reaching movements. Subsequently, joint-torque trajectories were calculated and a gradient descent algorithm found optimal, patient-specific perturbations to actual limb dynamics predicted to reduce directional reaching errors by an average of 41%, elucidating a promising form of robotic intervention and adding support to the internal model hypothesis.

Original languageEnglish (US)
Pages (from-to)1383-1397
Number of pages15
JournalRobotica
Volume32
Issue number8
DOIs
StatePublished - Dec 12 2014

Fingerprint

Cerebellum
Dynamic Simulation
Testing
Computer simulation
Robotics
Torque
Damage
Trajectories
Robots
Internal
Planning
Descent Algorithm
Gradient Algorithm
Gradient Descent
Model
Robot
Trajectory
Perturbation
Movement
Exoskeleton (Robotics)

Keywords

  • Cerebellar ataxia
  • Rehabilitation
  • Robotic assistance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Software
  • Mathematics(all)

Cite this

Testing models of cerebellar ataxia via dynamic simulation. / Grow, David; Bastian, Amy J; Okamura, Allison M.

In: Robotica, Vol. 32, No. 8, 12.12.2014, p. 1383-1397.

Research output: Contribution to journalArticle

Grow, David ; Bastian, Amy J ; Okamura, Allison M. / Testing models of cerebellar ataxia via dynamic simulation. In: Robotica. 2014 ; Vol. 32, No. 8. pp. 1383-1397.
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