An Adaptive Home-Use Robotic Rehabilitation System for the Upper Body
Robotic rehabilitation systems have been developed to treat these musculoskeletal conditions, but limited availability prevents most patients from using them. The objective of this research was to create a home-use robotic rehabilitation system.
Data was obtained in real-time from a Microsoft Kinect™ and a wireless surface EMG system. Results from the Kinect™ sensor were compared to a standard motion capture system. A subject completed visual follow exercise tasks in a 3D visual environment. Data from two training exercises were used to generate a neural network, which was then used to simulate the subject’s individual performance. The subjects completed both the exercise task output from the neural network (custom), and the unmodified task (standard). Additionally, a wearable arm robot prototype was built. Basic system identification was completed, and a control algorithm for the robot based on pressure control was designed and tested.
The subjects had greater RMSE for position and velocity variables during the custom exercise tasks. These results suggest that the custom task was difficult to complete, possibly because the neural network was unconstrained. Finally, the robot prototype was able to mimic changes in a subject’s elbow angle in real-time, demonstrating the feasibility of the robotic rehabilitation system.
See complete bios of the authors in the full version of this article.
Dr. Dowling joined the mechanical engineering faculty at Technion – Israel Institute of Technology as a Post-Doctoral Research Fellow in the Biorobotics and Biomechanics Laboratory (BRML). Dr. Dowling’s research interests are in medical robotics, specifically wearable robotics and robotic rehabilitation.
Mr. Barilay is currently a Ph.D. candidate in mechanical engineering at the Biorobotics and Biomechanics Laboratory (BRML) at the Technion. His fields of interest include biorobotics, computer vision, computational geometry and artificial intelligence.
Mr. Lombrozo received his B.Sc degree in mechanical engineering from the Technion – Israel Institute of Technology in 2012.
Dr. Wolf is part of the faculty of mechanical engineering at the Technion – Israel Institute of Technology, where he founded a new research lab, the Biorobotics and Biomechanics Lab (BRML). The objective of the research in the BRML is to develop fundamental theories in bio-kinematics and biomechanics and to apply these theories to applications in medical robotics and biorobotics. Prof. Wolf is a co-inventor and co-founder of Medrobotics.