Proceedings ArticleDOI
Mirror therapy with an exoskeleton upper-limb robot based on IMU measurement system
Wei-Wen Wang,Li-Chen Fu +1 more
- pp 370-375
Reads0
Chats0
TLDR
In this paper, an exoskeleton upper-limb robot and an inertia motion unit (IMU) measurement system based on mirror therapy concepts with assistive robotics are integrated to improve the safety and user-friendliness of the system.Abstract:
This paper develops a novel system which includes an exoskeleton upper-limb robot and an inertia motion unit (IMU) measurement system based on mirror therapy concepts with assistive robotics. By integrating the IMU measurement system and the exoskeleton robot, we can execute measurement and control over larger range of motion (ROM) and also improve the safety and user-friendliness of the system. In this paper, two methods using IMU to measure various orientations of parts of the master-side's upper-limb have been proposed, and then the posture trajectory of the disabled part of the slave's side will be automatically generated. Conceivably, these two methods can create more complex trajectories than conventional approaches which design specific type of trajectories. Besides that, the accuracy and safety of orientation measurement are very important issues when robot-assisted exercises are conducted. To achieve this objective, we particularly develop a point-to-point control system consisting of two different types of position measurement components along with a PID controller, and both monitor each other to make the system more robust and to prevent the single point of failure problem while the system is working.read more
Citations
More filters
Journal ArticleDOI
Reviews on Various Inertial Measurement Unit (IMU) Sensor Applications
TL;DR: A literature review of several current IMU categories and applications is presented and current methods being used to improve the accuracy of the output from IMU are presented to avoid the errors that latest IMU is facing.
Journal ArticleDOI
Assessment of movement quality in robot- assisted upper limb rehabilitation after stroke: a review.
TL;DR: A systematic review of kinematic assessments of movement quality of the upper limb and identifies the suitable parameters describing impairments in stroke patients is presented.
Motion Capture from Inertial Sensing for UntetheredHumanoid Teleoperation
TL;DR: The design of a modular system for untethered real-time kinematic motion capture using sensors with inertial measuring units (IMU) is described, which is comprised of a set of small and lightweight sensors.
Journal ArticleDOI
Improving the Accuracy of Human Body Orientation Estimation With Wearable IMU Sensors
Hamad Ahmed,Muhammad Tahir +1 more
TL;DR: The proposed approach estimates the direction of linear acceleration and assigns lower weights inside the Kalman filter to only those sensor axes that are experiencing acceleration, thus conserving important information from other axes measurements.
Journal ArticleDOI
An Extended Complementary Filter for Full-Body MARG Orientation Estimation
TL;DR: A new algorithm, an extended complementary filter (ECF), to derive 3-D rigid body orientation from inertial sensing suites addressing these challenges, and combines computational efficiency of classic complementary filters with improved accuracy compared to popular optimization filters.
References
More filters
Journal ArticleDOI
Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke.
TL;DR: Compared with conventional treatment, robot-assisted movements had advantages in terms of clinical and biomechanical measures and was justified into the use of robotic manipulation for motor rehabilitation.
Journal ArticleDOI
Review of control strategies for robotic movement training after neurologic injury
TL;DR: There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury, and this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance.
Journal Article
Development of robots for rehabilitation therapy: the Palo Alto VA/Stanford experience.
TL;DR: Clinical trials comparing 3-D robot-assisted therapy to traditional therapy in 21 chronic stroke subjects showed significant improvement in the Fugl-Meyer measure of motor recovery in the robot group, which exceeded improvements in the control group.
Journal ArticleDOI
Measuring orientation of human body segments using miniature gyroscopes and accelerometers
TL;DR: A method for accurate measurement of the orientation of human body segments using an inertial measurement unit (IMU) using a Kalman filter and it was shown that the gyroscope offset could be estimated continuously during a trial.
Journal ArticleDOI
Ambulatory measurement of arm orientation
TL;DR: A method that uses constraints in the elbow to measure the orientation of the lower arm with respect to the upper arm is described, but the accuracy is limited by the accuracy of the sensor to segment calibration.