A Biomimetic Control Method Increases the Adaptability of a Humanoid Robot Acting in a Dynamic Environment.

One of the big challenges in robotics is to endow agents with autonomous and adaptive capabilities. With this purpose, we embedded a cerebellum-based control system into a humanoid robot that becomes capable of handling dynamical external and internal complexity. The cerebellum is the area of the brain that coordinates and predicts the body movements throughout the body-environment interactions. Different biologically plausible cerebellar models are available in literature and have been employed for motor learning and control of simplified objects. We built the canonical cerebellar microcircuit by combining machine learning and computational neuroscience techniques. The control system is composed of the adaptive cerebellar module and a classic control method; their combination allows a fast adaptive learning and robust control of the robotic movements when external disturbances appear. The control structure is built offline, but the dynamic parameters are learned during an online-phase training. The aforementioned adaptive control system has been tested in the Neuro-robotics Platform with the virtual humanoid robot iCub. In the experiment, the robot iCub has to balance with the hand a table with a ball running on it. In contrast with previous attempts of solving this task, the proposed neural controller resulted able to quickly adapt when the internal and external conditions change. Our bio-inspired and flexible control architecture can be applied to different robotic configurations without an excessive tuning of the parameters or customization. The cerebellum-based control system is indeed able to deal with changing dynamics and interactions with the environment. Important insights regarding the relationship between the bio-inspired control system functioning and the complexity of the task to be performed are obtained.

Study protocol: effect of playful training on functional abilities of older adults - a randomized controlled trial.

BACKGROUND: Loss of functional capabilities due to inactivity is one of the most common reasons for fall accidents, and it has been well established that loss of capabilities can be effectively reduced by physical activity. Pilot studies indicate a possible improvement in functional abilities of community dwelling elderly as a result of short-term playing with an exergame system in the form of interactive modular tiles. Such playful training may be motivational to perform and viewed by the subjects to offer life-fulfilling quality, while providing improvement in physical abilities, e.g. related to prevent fall accidents. The RCT will test for a variety of health parameters of community-dwelling elderly playing on interactive modular tiles. METHODS: The study will be a single blinded, randomized controlled trial with 60 community-dwelling adults 70+ years. The trial will consist an intervention group of 30 participants training with the interactive modular tiles, and a control group of 30 participants that will receive the usual care provided to non-patient elderly. The intervention period will be 12 weeks. The intervention group will perform group training (4-5 individuals for 1 h training session with each participant receiving 13 min training) on the interactive tiles twice a week. Follow-up tests include 6-min Walk Test (6MWT), the 8-ft Timed Up & Go Test (TUG), and the Chair-Stand Test (CS) from the Senior Fitness Test, along with balancing tests (static test on Wii Board and Line Walk test). Secondary outcomes related to adherence, motivation and acceptability will be investigated through semi-structured interviews. Data will be collected from pre- and post-tests. Data will be analyzed for statistically significant differences by checking that there is a Gaussian distribution and then using paired t-test, otherwise using Wilcoxon signed-rank test. "Intention to treat" analysis will be done. DISCUSSION: The trial tests for increased mobility, agility, balancing and general fitness of community-dwelling elderly as a result of playing, in this case on modular interactive tiles. A positive outcome may help preventing loss of functional capabilities due to inactivity. TRIAL REGISTRATION: ClinicalTrials.gov: Nr. NCT02496702 , Initial Release date 7/7-2015.

Effects of Short-Term Training of Community-Dwelling Elderly with Modular Interactive Tiles.

Objective: The objective of this study is to test for the increased mobility, agility, balancing, and general fitness of community-dwelling elderly individuals as a result of short-term training involving playing with modular interactive tiles (Entertainment Robotics, Odense, Denmark) at two community activity centers for the elderly. Three different tests from the Senior Fitness Test were used in order to test a variety of health parameters of the community-dwelling elderly, including those parameters related to fall prevention. Materials and Methods: Eighteen community-dwelling elderly individuals (63-95 years of age; mean, 83.2 years of age) were assessed in one intervention group without the use of a control group. The intervention group performed nine group sessions (1-1.5 hours each) of playful training with the modular interactive tiles over a 12-week period in two community activity centers for the elderly. Data were collected using pre-tests and post-tests of the 6-Minute Walk Test (6MWT), the 8-foot Timed Up & Go Test (TUG), and the Chair-Stand Test (CS). Data were analyzed for statistically significant differences and increases of means. Results: The 6MWT, TUG, and CS measurements showed statistically significant differences and increases of means between the pre-tests and post-tests with the 6MWT (P<0.001) (means difference, 22.4 percent), TUG (P<0.001) (means difference, 15 percent), and CS (P<0.002) (means difference, 14 percent). Fifty-six percent of the elderly progressed from one health risk level to a better level, according to the three tests. Conclusions: Statistically significant increases in scores were found across all tests, suggesting an improvement of many different health parameters for the elderly. Well-established research has shown the relationship between such test scores and fall incidents, balancing, mobility, agility, etc. This significant improvement in the health status of the elderly is obtained in as few as nine training sessions over a 12-week period of "playing" exergames with the modular interactive tiles.

The Physical Effect of Exergames in Healthy Elderly-A Systematic Review.

Exergames have been suggested as an innovative approach to enhance physical activity in the elderly. The objective of this review was to determine the effectiveness of exergames on validated quantitative physical outcomes in healthy elderly individuals. We used Centre for Review and Disseminations guidance to conduct systematic reviews. Four electronic databases were searched. We included randomized controlled trials (RCTs), the study participants were healthy elderly individuals, and the intervention of interest was exergaming. The title and abstract screening of the 1861 citations identified 36 studies as potentially eligible for this review, and an additional nine were identified from reference lists. The full text screening identified seven studies with a total of 311 participants, all reporting RCTs with low-to-moderate methodological quality. Six of the seven studies found a positive effect of exergaming on the health of the elderly. However, the variation of intervention approaches and outcome data collected limited the extent to which studies could be compared. This review demonstrates how exergames have a potential to improve physical health in the elderly. However, there is a need for additional and better-designed studies that assess the effectiveness and long-term adherence of exergames designed specifically for the elderly.