CORBYS project overview: Approach and achieved results

Abstract

The objective of the integrated EU FP7 project CORBYS is to design and implement a generic robot control architecture that allows the integration of high-level cognitive modules to support the functioning of the robot in dynamic environments including interaction with humans. As a practical application of the control architecture, a novel cognitive mobile gait rehabilitation system is being developed during the project’s lifetime. The system consists of a mobile platform and a powered orthosis attached to the platform. The mobile platform will provide mobility for a patient, and the powered orthosis will assist the patient to complete his/her leg movements. The cognitive modules are supported by an advanced multi-sensor system consisting of various types of sensors integrated within the system, such as position and force sensors, as well of physiological wearable sensors and EEG sensors. Based on the sensor measurements the CORBYS cognitive modules will interpret the intention of the patient, and his/her physical and psychological state, and from these create appropriate commands for the low-level robot control. Through the cognitive robot control, the CORBYS gait rehabilitation system will be a situationally-aware system, capable of learning and reasoning to optimally match the requirements of the patient at different stages of rehabilitation, in a range of gait disorders.