Motion Learning and Optimisation in the Neurorehabilitation

Problem: Parkinson's, stroke, and other neurological diseases may cause significant problems in human motion behaviour. In particular, such diseases affect the control of voluntary movements that normally are performed optimally as regards motion speed, position accuracy, and energy loss. In such cases, control functions (neural signals to muscles) are to be re-learnt and optimised with respect to these performance indices. In our study, a novel conceptual framework for efficient learning control of goal-directed, voluntary movements is proposed. It is based on underlying principles of robot dynamics, optimal co…