Details
| Original language | English |
|---|---|
| Title of host publication | 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) |
| Pages | 1163-1168 |
| Number of pages | 6 |
| ISBN (electronic) | 978-1-5386-8183-1, 978-1-5386-8182-4 |
| Publication status | Published - 2018 |
| Externally published | Yes |
Publication series
| Name | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics |
|---|---|
| Volume | 2018-August |
| ISSN (Print) | 2155-1774 |
Abstract
Rehabilitation robotics and neuromuscular stimulation have become widespread technologies for rehabilitation training of stroke and spinal cord injured patients. In this context, real-time tracking of the performed motion facilitates real-time control of the motion support and biofeedback about undesired compensatory motions. We consider a cable-driven robotic system for upper limb rehabilitation and extend it by two wearable inertial sensors. By sensor fusion of the robotic and inertial measurements, we obtain accurate estimates of the forearm and upper arm orientation and position, which cannot be obtained by either of both measurement systems alone. A real-time biofeedback is introduced to prevent undesired compensatory motions of the trunk and shoulder. The proposed methods are evaluated with respect to an optical reference system in a series of experimental trials with and without compensatory motions. Using only the robotic sensors yields average measurement errors of up to 24 cm for the shoulder position and 19° for the elbow angle. In contrast, the proposed hybrid sensor fusion achieves accuracies better than 6 cm and 4°, respectively.
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2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). 2018. p. 1163-1168 8487203 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2018-August).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Hybrid inertial-robotic motion tracking for posture biofeedback in upper limb rehabilitation
AU - Passon, Arne
AU - Schauer, Thomas
AU - Seel, Thomas
N1 - Publisher Copyright: © 2018 IEEE.
PY - 2018
Y1 - 2018
N2 - Rehabilitation robotics and neuromuscular stimulation have become widespread technologies for rehabilitation training of stroke and spinal cord injured patients. In this context, real-time tracking of the performed motion facilitates real-time control of the motion support and biofeedback about undesired compensatory motions. We consider a cable-driven robotic system for upper limb rehabilitation and extend it by two wearable inertial sensors. By sensor fusion of the robotic and inertial measurements, we obtain accurate estimates of the forearm and upper arm orientation and position, which cannot be obtained by either of both measurement systems alone. A real-time biofeedback is introduced to prevent undesired compensatory motions of the trunk and shoulder. The proposed methods are evaluated with respect to an optical reference system in a series of experimental trials with and without compensatory motions. Using only the robotic sensors yields average measurement errors of up to 24 cm for the shoulder position and 19° for the elbow angle. In contrast, the proposed hybrid sensor fusion achieves accuracies better than 6 cm and 4°, respectively.
AB - Rehabilitation robotics and neuromuscular stimulation have become widespread technologies for rehabilitation training of stroke and spinal cord injured patients. In this context, real-time tracking of the performed motion facilitates real-time control of the motion support and biofeedback about undesired compensatory motions. We consider a cable-driven robotic system for upper limb rehabilitation and extend it by two wearable inertial sensors. By sensor fusion of the robotic and inertial measurements, we obtain accurate estimates of the forearm and upper arm orientation and position, which cannot be obtained by either of both measurement systems alone. A real-time biofeedback is introduced to prevent undesired compensatory motions of the trunk and shoulder. The proposed methods are evaluated with respect to an optical reference system in a series of experimental trials with and without compensatory motions. Using only the robotic sensors yields average measurement errors of up to 24 cm for the shoulder position and 19° for the elbow angle. In contrast, the proposed hybrid sensor fusion achieves accuracies better than 6 cm and 4°, respectively.
UR - http://www.scopus.com/inward/record.url?scp=85056585129&partnerID=8YFLogxK
U2 - 10.1109/biorob.2018.8487203
DO - 10.1109/biorob.2018.8487203
M3 - Conference contribution
SN - 978-1-5386-8184-8
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1163
EP - 1168
BT - 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)
ER -