使用机器人触觉设备的眼手协调评估/治疗

N. Pernalete, S. Edwards, Ramakrishna Gottipati, J. Tipple, V. Kolipakam, R. Dubey
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引用次数: 25

摘要

在本文中,我们讨论了在诊断为这种问题的儿童中,使用从触觉用户界面到虚拟环境的机器人映射来改善眼手协调的可能性。我们的目标是开发一种评估和培训程序,从而利用触觉设备提供的力反馈改善手写。我们还结合了惯性和粘度效应来减少手部的震颤,以及刺激参与握笔任务的肌肉(在职业治疗领域被称为促进技术)。选择了一套职业治疗师常用的评估测试,利用力、惯性和粘度效应来实现各种功能。用于这些任务的测试平台包括一个六自由度的力反射触觉接口设备,带有GHOST SDK软件的PHANToM。
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Eye-hand coordination assessment/therapy using a robotic haptic device
In this paper we discuss the possibility of improving eye-hand coordination in children diagnosed with this problem, using a robotic mapping from a haptic user interface to a virtual environment. Our goal is to develop an assessment and training procedure that will result in improving handwriting taking advantage of the force feedback provided by the haptic device. We also incorporate inertia and viscosity effects to decrease the tremor in the hand as well as to stimulate the muscles involved in the task of holding a pencil (known as facilitation technique in the occupational therapy field). A set of assessment tests, commonly used by occupational therapists, were chosen to implement various functions using force, inertia and viscosity effects. The test bed used for these tasks consisted of a six-degree-of-freedom force-reflecting haptic interface device, PHANToM with the GHOST SDK Software.
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