Mixed Reality-based Exergames for Upper Limb Robotic Rehabilitation

Robotic rehabilitation devices are showing strong potential for intensive, task-oriented, and personalized motor training. Integrating Mixed Reality (MR) technology and tangible objects in these systems allow the creation of attractive, stimulating, and personalized hybrid environments. Using a gamification approach, MR-based robotic training can increase patients' motivation, engagement, and experience. This paper presents the development of two Mixed Reality-based exergames to perform bimanual exercises assisted by a shoulder rehabilitation exoskeleton and using tangible objects. The system design was completed by adopting a user-centered iterative process. The system evaluates task performance and cost function metrics from the kinematic analysis of the hands' movement. A preliminary evaluation of the system is presented, which shows the correct operation of the system and the fact that it stimulates the desired upper limb movements.