Serious games for assessment and rehabilitation of ankle movements

Gonçalves, Ana Carolina; Santos, Wilian M. dos; Consoni, Leonardo José; Siqueira, Adriano A. G.

doi:10.1109/segah.2014.7067071

Cited by 15 publications

(15 citation statements)

References 8 publications

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“… SEA-based Robotic Platform for Ankle Rehabilitation (SRPAR). (A) Platform (Gonçalves et al, 2014 ). (B) Squematic model.…”

Section: System Description and Modelingmentioning

confidence: 99%

“…Robotic-assisted therapy is a promising field for the development of rehabilitation tasks. Among the advantages offered by robotic devices are uniformity in the repetition of long-time routines, reliable records of measured variables, and motivation for the patient's participation using interactive environments like serious games (Lum et al, 2002 ; Chang and Kim, 2013 ; Gonçalves et al, 2014 ). However, the fact that these robots interact with humans during therapeutic movement, they require a high degree of security and reliability.…”

Section: Introductionmentioning

confidence: 99%

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Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach

et al. 2017

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The human-robot interaction has played an important role in rehabilitation robotics and impedance control has been used in the regulation of interaction forces between the robot actuator and human limbs. Series elastic actuators (SEAs) have been an efficient solution in the design of this kind of robotic application. Standard implementations of impedance control with SEAs require an internal force control loop for guaranteeing the desired impedance output. However, nonlinearities and uncertainties hamper such a guarantee of an accurate force level in this human-robot interaction. This paper addresses the dependence of the impedance control performance on the force control and proposes a control approach that improves the force control robustness. A unified model of the human-robot system that considers the ankle impedance by a second-order dynamics subject to uncertainties in the stiffness, damping, and inertia parameters has been developed. Fixed, resistive, and passive operation modes of the robotics system were defined, where transition probabilities among the modes were modeled through a Markov chain. A robust regulator for Markovian jump linear systems was used in the design of the force control. Experimental results show the approach improves the impedance control performance. For comparison purposes, a standard H∞ force controller based on the fixed operation mode has also been designed. The Markovian control approach outperformed the H∞ control when all operation modes were taken into account.

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“… SEA-based Robotic Platform for Ankle Rehabilitation (SRPAR). (A) Platform (Gonçalves et al, 2014 ). (B) Squematic model.…”

Section: System Description and Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach

et al. 2017

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“…As can be inferred from the examples parallel mechanisms are ideal for ankle joint actuation as the addition of DoF does not result in a vastly increased device inertia due to having grounded motors and the ankle joint does not require a large workspace. Relatively simpler ankle tilt platforms were also used in VR based studies like serious games [7] for rehabilitation or studying human postural control [1].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction

Otaran

Farkhatdinov

2019

Towards Autonomous Robotic Systems

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We present the design of a one-degree-of-freedom ankle actuation platform for human-robot interaction. The platform is actuated with a DC motor through a capstan drive mechanism. The results for platform dynamics identification including friction characterisation are presented. Control experiments demonstrate that a linear regulator with gravity compensation can be used to control the inclination of the platform efficiently.

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“…Another obstacle for neuromotor rehabilitation that should be addressed is the motivation issue: the prescribed exercises are typically based on lengthy and monotonous repetition, which may quickly become tedious, discouraging or even being uncomfortable to impaired patients, whose commitment plays a key role in proper recovery (HOGAN et al, 2006;HOGAN, 2014). Gamification can help as a way to rate and reward treated subjects for their achievements, thus keeping interest and engagement throughout the treatment (GONÇALVES et al, 2014;SCHÄTTIN, et al, 2018). Those games intended for goals beyond player's enjoyment, like functional training, are classified as serious games (ANDRADE et al, 2013).…”

Section: Serious Games For Rehabilitationmentioning

confidence: 99%

“…When computers with graphical capabilities are available, virtual reality (VR) serves as a tool for serious games by presenting motor tasks and performance assessment in an intuitive audiovisual format, instigating and reacting to user's actions (ANDRADE et al, 2013;GONÇALVES et al, 2014;PRAHM et al, 2017). Also, their algorithms can integrate automatic difficulty adaptation to increase training intensity as the player improves (BAUR; WOLF, et al, 2017;.…”

Section: Serious Games For Rehabilitationmentioning

confidence: 99%

Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments

Consoni¹

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Last but not least, I would like to thank all the people, known or anonymous, that directly or indirectly collaborated to the developments I went through over the course of my life, to whom I wish to give something in return someday. "No man is an island, Entire of itself, Every man is a piece of the continent, A part of the main. If a clod be washed away by the sea, Europe is the less. As well as if a promontory were. As well as if a manor of thy friend's Or of thine own were: Any man's death diminishes me, Because I am involved in mankind, And therefore never send to know for whom the bell tolls; It tolls for thee." John Donne"Man tries to make for himself in the fashion that suits him best a simplified and intelligible picture of the world; he then tries to some extent to substitute this cosmos of his for the world of experience, and thus to overcome it. This is what the painter, the poet, the speculative philosopher, and the natural scientist do, each in his own fashion. Each makes this cosmos and its construction the pivot of his emotional life, in order to find in this way the peace and security which he cannot find in the narrow whirlpool of personal experience.

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Serious games for assessment and rehabilitation of ankle movements

Cited by 15 publications

References 8 publications

Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach

Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach

Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction

Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments

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