Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
Identifieur interne : 000D00 ( Main/Merge ); précédent : 000C99; suivant : 000D01Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
Auteurs : Camilo Cortés [Espagne, Colombie] ; Aitor Ardanza [Espagne] ; F. Molina-Rueda [Espagne] ; A. Cuesta-G Mez [Espagne] ; Luis Unzueta [Espagne] ; Gorka Epelde [Espagne] ; Oscar E. Ruiz [Colombie] ; Alessandro De Mauro [Espagne] ; Julian Florez [Espagne]Source :
- BioMed Research International [ 2314-6133 ] ; 2014.
Abstract
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.
Url:
DOI: 10.1155/2014/821908
PubMed: 25110698
PubMed Central: 4119692
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Molina-Rueda</name><affiliation wicri:level="2"><nlm:aff id="I3">Biomechanics, Ergonomy and Motor Control Laboratory (LAMBECOM), Physical Therapy, Occupational Therapy, Rehabilitation and Physical Medicine Department, Rey Juan Carlos University, 28922 Madrid, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>Biomechanics, Ergonomy and Motor Control Laboratory (LAMBECOM), Physical Therapy, Occupational Therapy, Rehabilitation and Physical Medicine Department, Rey Juan Carlos University, 28922 Madrid</wicri:regionArea><placeName><region nuts="2" type="communauté">Communauté de Madrid</region></placeName></affiliation></author><author><name sortKey="Cuesta G Mez, A" sort="Cuesta G Mez, A" uniqKey="Cuesta G Mez A" first="A." last="Cuesta-G Mez">A. Cuesta-G Mez</name><affiliation wicri:level="2"><nlm:aff id="I3">Biomechanics, Ergonomy and Motor Control Laboratory (LAMBECOM), Physical Therapy, Occupational Therapy, Rehabilitation and Physical Medicine Department, Rey Juan Carlos University, 28922 Madrid, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>Biomechanics, Ergonomy and Motor Control Laboratory (LAMBECOM), Physical Therapy, Occupational Therapy, Rehabilitation and Physical Medicine Department, Rey Juan Carlos University, 28922 Madrid</wicri:regionArea><placeName><region nuts="2" type="communauté">Communauté de Madrid</region></placeName></affiliation></author><author><name sortKey="Unzueta, Luis" sort="Unzueta, Luis" uniqKey="Unzueta L" first="Luis" last="Unzueta">Luis Unzueta</name><affiliation wicri:level="2"><nlm:aff id="I1">eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián</wicri:regionArea><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Epelde, Gorka" sort="Epelde, Gorka" uniqKey="Epelde G" first="Gorka" last="Epelde">Gorka Epelde</name><affiliation wicri:level="2"><nlm:aff id="I1">eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián</wicri:regionArea><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Ruiz, Oscar E" sort="Ruiz, Oscar E" uniqKey="Ruiz O" first="Oscar E." last="Ruiz">Oscar E. Ruiz</name><affiliation wicri:level="1"><nlm:aff id="I2">Laboratorio de CAD CAM CAE, Universidad EAFIT, Carrera 49 No. 7 Sur-50, 050022 Medellín, Colombia</nlm:aff><country xml:lang="fr">Colombie</country><wicri:regionArea>Laboratorio de CAD CAM CAE, Universidad EAFIT, Carrera 49 No. 7 Sur-50, 050022 Medellín</wicri:regionArea><wicri:noRegion>050022 Medellín</wicri:noRegion></affiliation></author><author><name sortKey="De Mauro, Alessandro" sort="De Mauro, Alessandro" uniqKey="De Mauro A" first="Alessandro" last="De Mauro">Alessandro De Mauro</name><affiliation wicri:level="2"><nlm:aff id="I1">eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián</wicri:regionArea><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Florez, Julian" sort="Florez, Julian" uniqKey="Florez J" first="Julian" last="Florez">Julian Florez</name><affiliation wicri:level="2"><nlm:aff id="I1">eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián</wicri:regionArea><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author></analytic><series><title level="j">BioMed Research International</title><idno type="ISSN">2314-6133</idno><idno type="eISSN">2314-6141</idno><imprint><date when="2014">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>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.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Krakauer, Jw" uniqKey="Krakauer J">JW Krakauer</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Adamevich, Sv" uniqKey="Adamevich S">SV Adamevich</name></author><author><name sortKey="Merians, As" uniqKey="Merians A">AS Merians</name></author><author><name sortKey="Boian, R" uniqKey="Boian R">R Boian</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Riener, R" uniqKey="Riener R">R Riener</name></author><author><name sortKey="Nef, T" uniqKey="Nef T">T Nef</name></author><author><name sortKey="Colombo, G" uniqKey="Colombo G">G 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