Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523631
Wang Wei Lee, C. Yeow, Hongliang Ren, S. Kukreja, N. Thakor
Spatiotemporal spike patterns from a population of mechanoreceptors provide a concise representation of tactile stimuli that facilitates rapid sensory processing in the brain. Efficient models of mechanoreceptors are needed for the adoption of spike-based processing for robotic tactile sensing applications. This paper presents a biomimetic model of the fast-adapting type 1 (FA-1) mechanoreceptor, implemented on a field-programmable-gate-array (FPGA). The simplicity of this model enables its realization on large arrays of sensing elements while operating with sub-millisecond temporal precision required to capture deformation patterns. We illustrate this capability by interfacing with a 4096 element tactile sensor array with a 5.2 kHz sampling rate. Through physical experiments, we demonstrate the discrimination of force magnitude and local curvature during transient mechanical contact, using spike patterns obtained from the model. The approach has the potential to deliver responsive full-body tactile sensing in robotic and prosthetic applications.
{"title":"FPGA implementation of a FA-1 mechanoreceptor model for efficient representation of tactile features","authors":"Wang Wei Lee, C. Yeow, Hongliang Ren, S. Kukreja, N. Thakor","doi":"10.1109/BIOROB.2016.7523631","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523631","url":null,"abstract":"Spatiotemporal spike patterns from a population of mechanoreceptors provide a concise representation of tactile stimuli that facilitates rapid sensory processing in the brain. Efficient models of mechanoreceptors are needed for the adoption of spike-based processing for robotic tactile sensing applications. This paper presents a biomimetic model of the fast-adapting type 1 (FA-1) mechanoreceptor, implemented on a field-programmable-gate-array (FPGA). The simplicity of this model enables its realization on large arrays of sensing elements while operating with sub-millisecond temporal precision required to capture deformation patterns. We illustrate this capability by interfacing with a 4096 element tactile sensor array with a 5.2 kHz sampling rate. Through physical experiments, we demonstrate the discrimination of force magnitude and local curvature during transient mechanical contact, using spike patterns obtained from the model. The approach has the potential to deliver responsive full-body tactile sensing in robotic and prosthetic applications.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126853497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523735
Dylan P. Losey, Laura H. Blumenschein, M. O'Malley
There has been significant research aimed at leveraging programmable robotic devices to provide haptic assistance or augmentation to a human user so that new motor skills can be trained efficiently and retained long after training has concluded. The success of these approaches has been varied, and retention of skill is typically not significantly better for groups exposed to these controllers during training. These findings point to a need to incorporate a more complete understanding of human motor learning principles when designing haptic interactions with the trainee. Reward-based reinforcement has been studied for its role in improving retention of skills. Haptic guidance, which assists a user to complete a task, and error augmentation, which exaggerates error in order to enhance feedback to the user, have been shown to be beneficial for training depending on the task difficulty, subject ability, and task type. In this paper, we combine the presentation of reward-based reinforcement with these robotic controllers to evaluate their impact on retention of motor skill in a visual rotation task with tunable difficulty using either fixed or moving targets. We found that with the reward-based feedback paradigm, both haptic guidance and error augmentation led to better retention of the desired visuomotor offset during a simple task, while during a more complex task, only subjects trained with haptic guidance demonstrated performance superior to those trained without a controller.
{"title":"Improving the retention of motor skills after reward-based reinforcement by incorporating haptic guidance and error augmentation","authors":"Dylan P. Losey, Laura H. Blumenschein, M. O'Malley","doi":"10.1109/BIOROB.2016.7523735","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523735","url":null,"abstract":"There has been significant research aimed at leveraging programmable robotic devices to provide haptic assistance or augmentation to a human user so that new motor skills can be trained efficiently and retained long after training has concluded. The success of these approaches has been varied, and retention of skill is typically not significantly better for groups exposed to these controllers during training. These findings point to a need to incorporate a more complete understanding of human motor learning principles when designing haptic interactions with the trainee. Reward-based reinforcement has been studied for its role in improving retention of skills. Haptic guidance, which assists a user to complete a task, and error augmentation, which exaggerates error in order to enhance feedback to the user, have been shown to be beneficial for training depending on the task difficulty, subject ability, and task type. In this paper, we combine the presentation of reward-based reinforcement with these robotic controllers to evaluate their impact on retention of motor skill in a visual rotation task with tunable difficulty using either fixed or moving targets. We found that with the reward-based feedback paradigm, both haptic guidance and error augmentation led to better retention of the desired visuomotor offset during a simple task, while during a more complex task, only subjects trained with haptic guidance demonstrated performance superior to those trained without a controller.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122311512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523748
Zhe Su, S. Schaal, G. Loeb
Humans are known to be good at manipulating tools. To cope with disturbances and uncertainties from the external environment during such tasks, they must be able to perceive small changes in orientation or tilt of the tool using mechanoreceptors in the glabrous skin of the fingertips. We hypothesize that the most sensitive part of human fingers, a flat surface on the distal phalanx (called apical tuft) would be preferred for perceiving very fine tilts. In this paper, we used an experimental apparatus to quantify discrimination threshold of a biomimetic tactile sensor (BioTac®) that incorporates a similar, sensorized flat surface. We found the thresholds to be as small as 0.11° for tilts in the roll direction and 0.19° for tilts in the pitch direction. The flat surface was superior in detecting tilts when compared to other, curved locations on the BioTac.
{"title":"Surface tilt perception with a biomimetic tactile sensor","authors":"Zhe Su, S. Schaal, G. Loeb","doi":"10.1109/BIOROB.2016.7523748","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523748","url":null,"abstract":"Humans are known to be good at manipulating tools. To cope with disturbances and uncertainties from the external environment during such tasks, they must be able to perceive small changes in orientation or tilt of the tool using mechanoreceptors in the glabrous skin of the fingertips. We hypothesize that the most sensitive part of human fingers, a flat surface on the distal phalanx (called apical tuft) would be preferred for perceiving very fine tilts. In this paper, we used an experimental apparatus to quantify discrimination threshold of a biomimetic tactile sensor (BioTac®) that incorporates a similar, sensorized flat surface. We found the thresholds to be as small as 0.11° for tilts in the roll direction and 0.19° for tilts in the pitch direction. The flat surface was superior in detecting tilts when compared to other, curved locations on the BioTac.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122493392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523619
Ulrik Mamikoglu, G. Andrikopoulos, G. Nikolakopoulos, Ulrik Roijezon, Mascha Pauelsen, T. Gustafsson
Musculoskeletal modeling based on Electromyography (EMG) has many applications in physiotherapy and biologically-inspired robotics. In this article, a novel methodology for the modeling of the dynamics of an antagonistic muscle pair that actuates the human ankle joint movements will be established. As it will be presented, the musculoskeletal model is based on a multi input single output (MISO) auto-regressive integrated moving average with exogenous input (ARIMAX) model, which takes the integrated EMG measurements as input and estimates the corresponding joint angles. Based on this methodology, a Pneumatic Artificial Muscle (PAM) robotic leg setup that mimics the flexion/extension movement of human ankle joint is controlled to replicate the human movement. The experimental results demonstrate the performance of EMG-based joint angle estimation and control of the robotic leg with the proposed model.
{"title":"Electromyography based joint angle estimation and control of a robotic leg","authors":"Ulrik Mamikoglu, G. Andrikopoulos, G. Nikolakopoulos, Ulrik Roijezon, Mascha Pauelsen, T. Gustafsson","doi":"10.1109/BIOROB.2016.7523619","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523619","url":null,"abstract":"Musculoskeletal modeling based on Electromyography (EMG) has many applications in physiotherapy and biologically-inspired robotics. In this article, a novel methodology for the modeling of the dynamics of an antagonistic muscle pair that actuates the human ankle joint movements will be established. As it will be presented, the musculoskeletal model is based on a multi input single output (MISO) auto-regressive integrated moving average with exogenous input (ARIMAX) model, which takes the integrated EMG measurements as input and estimates the corresponding joint angles. Based on this methodology, a Pneumatic Artificial Muscle (PAM) robotic leg setup that mimics the flexion/extension movement of human ankle joint is controlled to replicate the human movement. The experimental results demonstrate the performance of EMG-based joint angle estimation and control of the robotic leg with the proposed model.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122977271","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523618
Umer Huzaifa, Crispin Bernier, Zachary Calhoun, Gerald Heddy, Colleen Kohout, Brett Libowitz, Anne Moenning, Jason Ye, Catherine Maguire, A. LaViers
This paper presents a novel strategy for bipedal locomotion that is inspired from human movement strategy. The paper describes a novel prototype that uses an actuation scheme to shifts the center of gravity of the platform to acheive forward progress. This design is inspired by key movement primitives discussed in studies of human locomotion. In particular, the paper takes inspiration from Bartenieff Fundamentals and the Basic Six exercises and presents corresponding parameters for an actuated core structure. The paper reports on the design process of a particular platform and presents an initial simulation to verify that the design causes the desired change in center of gravity of the platform, resulting in forward movement. This design allows bipedal machine movement to be better aligned to parameters that human movement experts have used to describe locomotion and, thus, could one day better recreate human gait along multiple objectives.
{"title":"Embodied movement strategies for development of a core-located actuation walker","authors":"Umer Huzaifa, Crispin Bernier, Zachary Calhoun, Gerald Heddy, Colleen Kohout, Brett Libowitz, Anne Moenning, Jason Ye, Catherine Maguire, A. LaViers","doi":"10.1109/BIOROB.2016.7523618","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523618","url":null,"abstract":"This paper presents a novel strategy for bipedal locomotion that is inspired from human movement strategy. The paper describes a novel prototype that uses an actuation scheme to shifts the center of gravity of the platform to acheive forward progress. This design is inspired by key movement primitives discussed in studies of human locomotion. In particular, the paper takes inspiration from Bartenieff Fundamentals and the Basic Six exercises and presents corresponding parameters for an actuated core structure. The paper reports on the design process of a particular platform and presents an initial simulation to verify that the design causes the desired change in center of gravity of the platform, resulting in forward movement. This design allows bipedal machine movement to be better aligned to parameters that human movement experts have used to describe locomotion and, thus, could one day better recreate human gait along multiple objectives.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123037277","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523824
Hari Teja Kalidindi, S. Shah
Biological systems are superior compared to robotic systems in their ability to adapt to new situations very quickly. Hence, it would be advantageous to take insights from the architecture of sensory-motor maps in designing controllers for robotic systems. Any movement can be represented either in task space or joint space of a given manipulator. Planning and control in task space essentially reduces the computational complexity compared to joint-space approaches due to fewer dimensions involved. Experimental evidences [1], point towards task space representation of motion in the brain. The transformation of these task space representations into joint space is however not trivial, as it forms an ill-posed problem. This constitutes the inverse kinematics (IK) problem for a given manipulator. We propose to use multiple paired forward and inverse models approach described in the following sections, to obtain multiple IK solutions.
{"title":"Learning inverse kinematic solutions of redundant manipulators using multiple internal models","authors":"Hari Teja Kalidindi, S. Shah","doi":"10.1109/BIOROB.2016.7523824","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523824","url":null,"abstract":"Biological systems are superior compared to robotic systems in their ability to adapt to new situations very quickly. Hence, it would be advantageous to take insights from the architecture of sensory-motor maps in designing controllers for robotic systems. Any movement can be represented either in task space or joint space of a given manipulator. Planning and control in task space essentially reduces the computational complexity compared to joint-space approaches due to fewer dimensions involved. Experimental evidences [1], point towards task space representation of motion in the brain. The transformation of these task space representations into joint space is however not trivial, as it forms an ill-posed problem. This constitutes the inverse kinematics (IK) problem for a given manipulator. We propose to use multiple paired forward and inverse models approach described in the following sections, to obtain multiple IK solutions.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114413033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523801
Paul T. C. Straathof, J. Lobo-Prat, F. Schilder, Peter N. Kooren, M. Paalman, A. Stienen, B. Koopman
Adults with Duchenne muscular dystrophy (DMD), due to their severe muscular weakness, cannot benefit from passive arm supports that only compensate for the weight of their arms. Active arm supports can potentially enable adults with DMD to perform activities of daily living, improving their independence, and increasing their participation in social activities. In this paper we present the A-Arm, an inconspicuous and simple planar active arm support for adults with DMD that can be controlled with force- or EMG-based interfaces. The A-Arm is intended to replace the arm rest of the wheelchair and assist during table top tasks such as computer, tablet, or smartphone use, writing and drawing, and the use of the wheelchair's joystick. In the force-based control interface we have implemented active compensation of the joint-stiffness forces using a measurement-based method to obtain an estimation of the voluntary forces of the user. A pilot evaluation with an adult with DMD (24 years-old, Brooke 5) has shown that the A-Arm was able to increase the functional workspace of the arm (from 100 cm2 to 190-200 cm2). We found that while force-based control was experienced by the participant as more fatiguing than EMG-based control, the movements with EMG-based control were less accurate. These preliminary results give promising perspectives for the use of simple active arm supports to increase the independence of people with DMD.
{"title":"Design and control of the A-Arm: An active planar arm support for adults with Duchenne muscular dystrophy","authors":"Paul T. C. Straathof, J. Lobo-Prat, F. Schilder, Peter N. Kooren, M. Paalman, A. Stienen, B. Koopman","doi":"10.1109/BIOROB.2016.7523801","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523801","url":null,"abstract":"Adults with Duchenne muscular dystrophy (DMD), due to their severe muscular weakness, cannot benefit from passive arm supports that only compensate for the weight of their arms. Active arm supports can potentially enable adults with DMD to perform activities of daily living, improving their independence, and increasing their participation in social activities. In this paper we present the A-Arm, an inconspicuous and simple planar active arm support for adults with DMD that can be controlled with force- or EMG-based interfaces. The A-Arm is intended to replace the arm rest of the wheelchair and assist during table top tasks such as computer, tablet, or smartphone use, writing and drawing, and the use of the wheelchair's joystick. In the force-based control interface we have implemented active compensation of the joint-stiffness forces using a measurement-based method to obtain an estimation of the voluntary forces of the user. A pilot evaluation with an adult with DMD (24 years-old, Brooke 5) has shown that the A-Arm was able to increase the functional workspace of the arm (from 100 cm2 to 190-200 cm2). We found that while force-based control was experienced by the participant as more fatiguing than EMG-based control, the movements with EMG-based control were less accurate. These preliminary results give promising perspectives for the use of simple active arm supports to increase the independence of people with DMD.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129420402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523765
W. D. Santos, A. Siqueira
This paper deals with optimal impedance control of robotic devices designed for rehabilitation of walking after stroke. The proposed optimal solution is based on the estimation of torque and impedance parameters of the patient during the gait. The patient's torque is estimated using the generalized momenta-based disturbance observer associated with the Kalman filter algorithm. The stiffness and damping parameters are determined by the least square method, considering that the patient motor control is modeled as an impedance control, with a predefined gait-pattern as the desired trajectory of the joints. An optimization procedure is then performed after each step to tune the impedance parameters of the actuators' controller for the next step. In order to validate the proposed approach, simulation results considering a patient wearing an active hip/knee/ankle orthosis is presented, where several patient and robot conditions are evaluated for a set of steps.
{"title":"Optimal impedance control for robot-aided rehabilitation of walking based on estimation of patient behavior","authors":"W. D. Santos, A. Siqueira","doi":"10.1109/BIOROB.2016.7523765","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523765","url":null,"abstract":"This paper deals with optimal impedance control of robotic devices designed for rehabilitation of walking after stroke. The proposed optimal solution is based on the estimation of torque and impedance parameters of the patient during the gait. The patient's torque is estimated using the generalized momenta-based disturbance observer associated with the Kalman filter algorithm. The stiffness and damping parameters are determined by the least square method, considering that the patient motor control is modeled as an impedance control, with a predefined gait-pattern as the desired trajectory of the joints. An optimization procedure is then performed after each step to tune the impedance parameters of the actuators' controller for the next step. In order to validate the proposed approach, simulation results considering a patient wearing an active hip/knee/ankle orthosis is presented, where several patient and robot conditions are evaluated for a set of steps.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124719573","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523819
Byoung-Ho Kim
This paper analyses the torque characteristics of the shoulder and elbow joints of an assistive robotic arm for handling an object. In order to investigate those torque characteristics, we consider a model of a humanoid robot arm and simulate typical object lifting and transferring tasks by using the robot arm. Several simulations will show that the available torque patterns and ranges of the shoulder and elbow joints required for the load effect of an object can be identified earlier in the design process of a robotic arm. As a result, this study is helpful for us to determine effectively the specifications of any actuators employed in the shoulder and elbow joints of various humanoid and robotic arms. It is also valuable for a rehabilitation doctor to determine an adequate exercise prescription for an arm rehabilitation using a load.
{"title":"Torque characteristics of shoulder and elbow joints of assistive robotic arms handling an object","authors":"Byoung-Ho Kim","doi":"10.1109/BIOROB.2016.7523819","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523819","url":null,"abstract":"This paper analyses the torque characteristics of the shoulder and elbow joints of an assistive robotic arm for handling an object. In order to investigate those torque characteristics, we consider a model of a humanoid robot arm and simulate typical object lifting and transferring tasks by using the robot arm. Several simulations will show that the available torque patterns and ranges of the shoulder and elbow joints required for the load effect of an object can be identified earlier in the design process of a robotic arm. As a result, this study is helpful for us to determine effectively the specifications of any actuators employed in the shoulder and elbow joints of various humanoid and robotic arms. It is also valuable for a rehabilitation doctor to determine an adequate exercise prescription for an arm rehabilitation using a load.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124020218","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523718
F. D’Ippolito, M. Massaro
Using Augmented Reality (AR) could offer stimuli to rehabilitation from neuro-motor disorders, since the patient can be aided in a better known reality than Virtual Reality (VR). The main goal for an AR system is to achieve a good quality of tracking the real object to align with virtual contents. Often a single sensor could not provide enough information to that end due to a low updating rate; therefore joining an other high updating rate sensor could be indispensable, but how to combine data from different sensors especially when they work all at different rates? In this paper an approach based on recursive parameter estimation, focusing on multi-rate tracking in AR devices is suggested. The system of this study has a multi-sensor configuration provided by a webcam and a 3-axis MEMS inertial sensor, both working at different sample rates. Also an augmented reality application, designed for the neuro-motor rehabilitation of the upper limb, has been developed and shown.
{"title":"A multi-sensor multi-rate algorithm for motor rehabilitation with Augmented Reality devices","authors":"F. D’Ippolito, M. Massaro","doi":"10.1109/BIOROB.2016.7523718","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523718","url":null,"abstract":"Using Augmented Reality (AR) could offer stimuli to rehabilitation from neuro-motor disorders, since the patient can be aided in a better known reality than Virtual Reality (VR). The main goal for an AR system is to achieve a good quality of tracking the real object to align with virtual contents. Often a single sensor could not provide enough information to that end due to a low updating rate; therefore joining an other high updating rate sensor could be indispensable, but how to combine data from different sensors especially when they work all at different rates? In this paper an approach based on recursive parameter estimation, focusing on multi-rate tracking in AR devices is suggested. The system of this study has a multi-sensor configuration provided by a webcam and a 3-axis MEMS inertial sensor, both working at different sample rates. Also an augmented reality application, designed for the neuro-motor rehabilitation of the upper limb, has been developed and shown.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120901045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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