Robot sensor system for supervised rehabilitation with real-time feedback
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Robot sensor system for supervised rehabilitation with real-time feedback Md Assad Uz Zaman 1 & Md Rasedul Islam 1 & Mohammad Habib Rahman 1 & Katie Schultz 2 & Erin McGonigle 3 & Inga Wang 4 Received: 27 September 2019 / Revised: 8 May 2020 / Accepted: 24 June 2020 # Springer Science+Business Media, LLC, part of Springer Nature 2020
Abstract
Numerous assistive robot approaches have been proposed to rehabilitate individuals with impaired upper-limb function. However, to the best of our knowledge, none of these are fully supervised by the robotic system. In this research, we intend to use a robot as a tool to provide robot-guided supervised rehabilitation. A humanoid robot, NAO, was used for this purpose. To demonstrate rehabilitation exercises with NAO, a library of recommended rehabilitation exercises involving the shoulder (abduction/adduction, vertical flexion/ extension, and internal/external rotation), and elbow (flexion/extension) joint movements were created. An Xbox Kinect sensor was used to analyze the subject upper arm movement during rehabilitation. For this purpose, a complete geometric solution was developed to find a unique inverse kinematic solution of human upper-arm from the Kinect data. A control algorithm was developed in MATLAB for the proposed robot guided supervised rehabilitation protocol. Experimental results show that the NAO and Kinect sensor can effectively be used to supervise and guide the subjects in performing active rehabilitation exercises for the shoulder and elbow joint movements. Keywords Humanoid robot . Supervised rehabilitation . Telehealth . Kinect
Electronic supplementary material The online version of this article (https://doi.org/10.1007/s11042-02009266-x) contains supplementary material, which is available to authorized users.
* Md Assad Uz Zaman [email protected]
1
BioRobotics Lab, Mechanical Engineering Department, University of Wisconsin-Milwaukee, Room # USR-281, 115 E Reindl Way, Milwaukee, WI 53212, USA
2
Clement J. Zablocki VA Medical Center, Milwaukee, WI, USA
3
Department of Physical Medicine & Rehabilitation, Medical College of Wisconsin (MCW), Milwaukee, WI, USA
4
Occupational Science & Technology Department, University of Wisconsin-Milwaukee, Milwaukee, WI, USA
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1 Introduction In recent decades, the development of robotic systems increased tremendously for the rehabilitation of patients with upper arm dysfunction. Geriatric disorders, stroke, trauma, sports injuries, occupational injuries, and spinal cord injuries are the main causes of full or partial loss of upper arm functionality. To regain upper arm functionality for these patients, rehabilitation programs consisting of intensive and repetitive therapist mediated protocols are existing major strategies [20]. However, with the increasing number of patients with disabilities, the number of rehabilitation facilities are not sufficient [5]. In this scenario, robotic rehabilitation systems have a substantial potential to increase rehabilitation productivity and qu
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