Please use this identifier to cite or link to this item: http://dx.doi.org/10.14279/depositonce-11128
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Main Title: Inertial-Robotic Motion Tracking in End-Effector-Based Rehabilitation Robots
Author(s): Passon, Arne
Schauer, Thomas
Seel, Thomas
Type: Article
Language Code: en
Abstract: End-effector-based robotic systems provide easy-to-set-up motion support in rehabilitation of stroke and spinal-cord-injured patients. However, measurement information is obtained only about the motion of the limb segments to which the systems are attached and not about the adjacent limb segments. We demonstrate in one particular experimental setup that this limitation can be overcome by augmenting an end-effector-based robot with a wearable inertial sensor. Most existing inertial motion tracking approaches rely on a homogeneous magnetic field and thus fail in indoor environments and near ferromagnetic materials and electronic devices. In contrast, we propose a magnetometer-free sensor fusion method. It uses a quaternion-based algorithm to track the heading of a limb segment in real time by combining the gyroscope and accelerometer readings with position measurements of one point along that segment. We apply this method to an upper-limb rehabilitation robotics use case in which the orientation and position of the forearm and elbow are known, and the orientation and position of the upper arm and shoulder are estimated by the proposed method using an inertial sensor worn on the upper arm. Experimental data from five healthy subjects who performed 282 proper executions of a typical rehabilitation motion and 163 executions with compensation motion are evaluated. Using a camera-based system as a ground truth, we demonstrate that the shoulder position and the elbow angle are tracked with median errors around 4 cm and 4°, respectively; and that undesirable compensatory shoulder movements, which were defined as shoulder displacements greater ±10 cm for more than 20% of a motion cycle, are detected and classified 100% correctly across all 445 performed motions. The results indicate that wearable inertial sensors and end-effector-based robots can be combined to provide means for effective rehabilitation therapy with likewise detailed and accurate motion tracking for performance assessment, real-time biofeedback and feedback control of robotic and neuroprosthetic motion support.
URI: https://depositonce.tu-berlin.de/handle/11303/12252
http://dx.doi.org/10.14279/depositonce-11128
Issue Date: 27-Nov-2020
Date Available: 28-Dec-2020
DDC Class: 004 Datenverarbeitung; Informatik
Subject(s): end-effector-based robots
inertial measurement units
sensor fusion
posture biofeedback
real-time tracking
rehabilitation robots
compensation motion detection
upper-limb rehabilitation
Sponsor/Funder: TU Berlin, Open-Access-Mittel – 2020
License: https://creativecommons.org/licenses/by/4.0/
Journal Title: Frontiers in Robotics and AI
Publisher: Frontiers
Publisher Place: Lausanne
Volume: 7
Article Number: 554639
Publisher DOI: 10.3389/frobt.2020.554639
EISSN: 2296-9144
Appears in Collections:FG Regelungssysteme » Publications

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