Bio-cooperative robotics: Controlling mechanical, physiological and mental patient states

In classical man-machine interfaces, biomechanics of the human form a part of the underlying control loop. However, integrating the human into the loop can be considered not only from a biomechanical view but also with regard to psycho-physiological aspects. Biomechanical integration involves ensuring that the system to be used is ergonomically acceptable and ldquouser-cooperativerdquo. Psycho-physiological integration involves recording and controlling the patient´s physiological reactions so that the patient receives appropriate stimuli and is challenged in a moderate but engaging way without causing undue stress or harm. In this paper, we present examples of biomechanical and psycho-physiological integration of patients verified with the gait robot Lokomat and the dynamic tilt and stepping device Erigo.