Upper Limb Posture Estimation in Robotic and Virtual Reality-based Rehabilitation.

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dc.citation.epage18spa
dc.citation.journalTitleBioMed Research Internationaleng
dc.citation.journalTitleBioMed Research Internationalspa
dc.citation.spage1spa
dc.citation.volume2014spa
dc.contributor.affiliationUniversidad EAFIT. Departamento de Ingeniería Mecánica. Grupo de Investigación CAD CAM CAE, Carrera 49 7 Sur-50, Medellín, Colombia.spa
dc.contributor.authorCortez, Camilo
dc.contributor.authorArdanza, Aitor
dc.contributor.authorMolina Rueda, F.
dc.contributor.authorCuesta Gomez, A.
dc.contributor.authorUnzueta, L.
dc.contributor.authorEpelde, G.
dc.contributor.authorRuiz Salguero, Oscar
dc.contributor.authorDe Mauro, A.
dc.contributor.authorFlorez, Julian
dc.contributor.departmentUniversidad EAFIT. Departamento de Ingeniería Mecánicaspa
dc.contributor.researchgroupLaboratorio CAD/CAM/CAEspa
dc.date.accessioned2016-09-26T19:55:23Z
dc.date.available2016-09-26T19:55:23Z
dc.date.issued2014-07-08
dc.description.abstractNew 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.eng
dc.formatapplication/pdfeng
dc.identifier.doi10.1155/2014/821908
dc.identifier.issn2314-6141
dc.identifier.urihttp://hdl.handle.net/10784/9207
dc.language.isoengeng
dc.publisherHindawi Publishing Corp.spa
dc.relation.ispartofBioMed Research International, Volume 2014, pp 1-18spa
dc.relation.urihttps://www.hindawi.com/journals/bmri/2014/821908/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.localAcceso abiertospa
dc.titleUpper Limb Posture Estimation in Robotic and Virtual Reality-based Rehabilitation.eng
dc.typeinfo:eu-repo/semantics/articleeng
dc.typearticleeng
dc.typeinfo:eu-repo/semantics/publishedVersioneng
dc.typepublishedVersioneng
dc.type.localArtículospa

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