Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
نویسندگان
چکیده
New motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, since the human and exoskeleton kinematic models differ. In response to this shortcoming, we propose a method to estimate the posture of the human limb attached to the exoskeleton. We use the exoskeleton joint angles measurements and the constraints of the exoskeleton on the limb to estimate the human limb joints angles. This paper presents (a) the mathematical formulation and solution to the problem, (b) the implementation of the proposed solution on a commercial exoskeleton system for the upper limb rehabilitation, (c) its integration into a rehabilitation VR game platform, and (d) the quantitative assessment of the method during elbow and wrist analytic training. Results show that this method properly estimates the limb posture to (i) animate avatars that represent the patient in VR games and (ii) obtain kinematic data for the patient assessment during elbow and wrist analytic rehabilitation.
منابع مشابه
Investigating the Effect of Virtual Reality Environment and Intelligent Control Panel on the Rehabilitation of Upper Limb
Introduction: Occupational therapy and performing specific motor activities are among the healing processes for injured people that should be followed by patients in need after the doctor’s prescription. The objective of this study was to evaluate the effect of using virtual reality environments and interacting with hardware designed for the treatment and rehabilitation of patients with upper l...
متن کاملInvestigating the Effect of Virtual Reality Environment and Intelligent Control Panel on the Rehabilitation of Upper Limb
Introduction: Occupational therapy and performing specific motor activities are among the healing processes for injured people that should be followed by patients in need after the doctor’s prescription. The objective of this study was to evaluate the effect of using virtual reality environments and interacting with hardware designed for the treatment and rehabilitation of patients with upper l...
متن کاملInverse Kinematics of Human Arm Based on Multisensor Data Integration
The paper considers a technique for computation of the inverse kinematic model of the human arm. The approach is based on measurements of the hand position and orientation as well as acceleration and angular rate of the upper arm segment. A quaternion description of orientation is used to avoid singularities in representations with Euler angles. A Kalman filter is designed to integrate sensory ...
متن کاملRehabilitation robots: a compliment to virtual reality
The aim of this paper is to discuss the use of robots for upper limb rehabilitation following strokes in adults. We describe the main robots currently being developed and the results of clinical studies that have been carried out. The association of virtual reality interfaces and the robotic rehabilitation programs providing therapy in the form of games with a view to helping therapists increas...
متن کاملUsing Virtual Reality to Transfer Motor Skill Knowledge from One Hand to Another
As far as acquiring motor skills is concerned, training by voluntary physical movement is superior to all other forms of training (e.g. training by observation or passive movement of trainee's hands by a robotic device). This obviously presents a major challenge in the rehabilitation of a paretic limb since voluntary control of physical movement is limited. Here, we describe a novel training sc...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره 2014 شماره
صفحات -
تاریخ انتشار 2014