A Robot with an Augmented-Reality Display for Functional Capacity Evaluation and Rehabilitation of Injured Workers

J. Fong, Renz Ocampo, D. Gross, M. Tavakoli
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引用次数: 6

Abstract

Occupational rehabilitation is an integral part of the recovery process for workers who have sustained injuries at the workplace. It often requires the injured worker to engage in functional tasks that simulate the workplace environment to help regain their functional capabilities and allow for a return to employment. We present a system comprised of a robotic arm for recreating the physical dynamics of functional tasks and a 3D Augmented Reality (AR) display for immersive visualization of the tasks. While this system can be used to simulate a multitude of occupational tasks, we focus on one specific functional task. Participants perform a virtual version of the task using the robot-AR system, and a physical version of the same task without the system. This study shows the results for two able-bodied users to determine if the robot-AR system produces upper-limb movements similar to the real-life equivalent task. The similarity between relative joint positions, i.e., hand-to-elbow (H2E) and elbow-to-shoulder (E2S) displacements, is evaluated within clusters based on the spatial position of the user’s hand. The H2E displacements for approximately 50% of hand position clusters were consistent between the robot-AR and real-world conditions and approximately 30% for E2S displacements. The similar clusters are distributed across the entire task space however, indicating the robot-AR system has the potential to properly simulate real-world equivalent tasks.
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一种用于受伤工人功能评估和康复的增强现实显示机器人
职业康复是在工作场所受伤的工人康复过程的一个组成部分。它通常要求受伤的工人参与模拟工作场所环境的功能性任务,以帮助他们恢复功能,并允许他们重返工作岗位。我们提出了一个由机械臂和3D增强现实(AR)显示器组成的系统,用于重现功能任务的物理动力学和任务的沉浸式可视化。虽然这个系统可以用来模拟大量的职业任务,但我们只关注一个特定的功能任务。参与者使用机器人增强现实系统执行虚拟版本的任务,以及在没有系统的情况下执行相同任务的物理版本。这项研究展示了两个健全用户的结果,以确定机器人增强现实系统是否产生类似于现实生活中等效任务的上肢运动。相对关节位置之间的相似性,即手到肘部(H2E)和肘部到肩膀(E2S)的位移,在基于用户手的空间位置的聚类中进行评估。大约50%的手部位置簇的H2E位移在机器人- ar和现实条件之间是一致的,大约30%的E2S位移是一致的。然而,类似的集群分布在整个任务空间中,这表明机器人增强现实系统有可能正确地模拟现实世界的等效任务。
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