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Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation

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 measurem...

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Autores principales: Cortés, Camilo, Ardanza, Aitor, Molina-Rueda, F., Cuesta-Gómez, A., Unzueta, Luis, Epelde, Gorka, Ruiz, Oscar E., De Mauro, Alessandro, Florez, Julian
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi Publishing Corporation 2014
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4119692/
https://www.ncbi.nlm.nih.gov/pubmed/25110698
http://dx.doi.org/10.1155/2014/821908
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author Cortés, Camilo
Ardanza, Aitor
Molina-Rueda, F.
Cuesta-Gómez, A.
Unzueta, Luis
Epelde, Gorka
Ruiz, Oscar E.
De Mauro, Alessandro
Florez, Julian
author_facet Cortés, Camilo
Ardanza, Aitor
Molina-Rueda, F.
Cuesta-Gómez, A.
Unzueta, Luis
Epelde, Gorka
Ruiz, Oscar E.
De Mauro, Alessandro
Florez, Julian
author_sort Cortés, Camilo
collection PubMed
description 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.
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spelling pubmed-41196922014-08-10 Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation Cortés, Camilo Ardanza, Aitor Molina-Rueda, F. Cuesta-Gómez, A. Unzueta, Luis Epelde, Gorka Ruiz, Oscar E. De Mauro, Alessandro Florez, Julian Biomed Res Int Research Article 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. Hindawi Publishing Corporation 2014 2014-07-08 /pmc/articles/PMC4119692/ /pubmed/25110698 http://dx.doi.org/10.1155/2014/821908 Text en Copyright © 2014 Camilo Cortés et al. https://creativecommons.org/licenses/by/3.0/ This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
spellingShingle Research Article
Cortés, Camilo
Ardanza, Aitor
Molina-Rueda, F.
Cuesta-Gómez, A.
Unzueta, Luis
Epelde, Gorka
Ruiz, Oscar E.
De Mauro, Alessandro
Florez, Julian
Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
title Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
title_full Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
title_fullStr Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
title_full_unstemmed Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
title_short Upper Limb Posture Estimation in Robotic and Virtual Reality-Based Rehabilitation
title_sort upper limb posture estimation in robotic and virtual reality-based rehabilitation
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4119692/
https://www.ncbi.nlm.nih.gov/pubmed/25110698
http://dx.doi.org/10.1155/2014/821908
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