We present an approach for quantitative assessment of the arm/hand movements in patients with Parkinson’s disease (PD), from sensor data acquired with a wearable, wireless armband device (Myo sensor). We propose new Movement Performance Indicators that can be adopted by practitioners for the quantitative evaluation of motor performance and support their clinical evaluations. In addition, specific Movement Performance Indicators can indicate the presence of the bradykinesia symptom. The study includes seventeen PD patients and sixteen age-matched controls. A set of representative arm/hand movements is defined under the supervision of movement disorder specialist. In order to assist the evaluations, and for progress monitoring purposes, as well as for assessing the amount of bradykinesia in PD, a total set of 84 Movement Performance Indicators are computed from the sensor readings. Subsequently, we investigate whether wireless armband device, with the use of the proposed Movement Performance Indicators can be utilized: (1) for objective and precise quantitative evaluation of the arm/hand movements of Parkinson’s patients, (2) for assessment of the bradykinesia motor symptom, and (3) as an adequate low-cost alternative for the sensor glove. We conducted extensive analysis of proposed Movement Performance Indicators and results are indicating following clinically relevant characteristics: (i) adequate reliability as measured by ICC; (ii) high accuracy in discrimination between the patients and controls, and between the disease stages (support to disease diagnosis and progress monitoring, respectively); (iii) substantial difference in comparison between the left-hand and the right-hand movements across controls and patients, as well as between disease stage groups; (iv) statistically significant correlation with clinical scales (tapping test and UPDRS-III Motor Score); and (v) quantitative evaluation of bradykinesia symptom. Results suggest that the proposed approach has a potential to be adopted by physicians, to afford them with quantitative, objective and precise methods and data during clinical evaluations and support the assessment of bradykinesia.
SUMMARYA conversion process for the imitation of human dual-arm motion by a humanoid robot is presented. The conversion process consists of an imitation algorithm and an algorithm for generating human-like motion of the humanoid. The desired motions in Cartesian and joint spaces, obtained from the imitation algorithm, are used to generate the human-like motion of the humanoid. The proposed conversion process improves existing techniques and is developed with the aim to enable imitating of human motion with a humanoid robot, to perform a task with and/or without contact between hands and equipment. A comparative analysis shows that our algorithm, which takes into account the situation of marker frames and the position of joint frames, ensures more precise imitation than previously proposed methods. The results of our conversion algorithm are tested on the robot ROMEO through a complex "open/close drawer" task.
The paper concerns with modeling and simulation of wireless robot and sensor networked systems. In that goal, a user-oriented Matlab/Simulink software toolbox called Virtual WRSN was designed with aim to support extensive research and development of such kind of non-linear integrated systems. Main applicative modules of the software simulator as well as background theory used for its development are presented in the paper. Some implementation aspects of the developed system are considered as well as some characteristic results are presented in the paper, too.
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