Abstract
Diagnostics of a hand requires measurements of kinematics and joint limits. The standard tools for this purpose are manual devices such as goniometers which allow measuring only one joint simultaneously, making the diagnostics time-consuming. The paper presents a system for automatic measurement and computer presentation of essential parameters of a hand. Constructed software uses an integrated vision system, a haptic device for measurement, and has a web-based user interface. The system provides a simplified way to obtain hand parameters, such as hand size, wrist, and finger range of motions, using the homogeneous-matrix-based notation. The haptic device allows for active measurement of the wrist’s range of motion and additional force measurement. A study was conducted to determine the accuracy and repeatability of measurements compared to the gold standard. The system functionality was confirmed on five healthy participants, with results showing comparable results to manual measurements regarding fingers’ lengths. The study showed that the finger’s basic kinematic structure could be measured by a vision system with a mean difference to caliper measurement of 4.5 mm and repeatability with the Standard Deviations up to 0.7 mm. Joint angle limits measurement achieved poorer results with a mean difference to goniometer of 23.6º. Force measurements taken by the haptic device showed the repeatability with a Standard Deviation of 0.7 N. The presented system allows for a unified measurement and a collection of important parameters of a human hand with therapist interface visualization and control with potential use for post-stroke patients’ precise rehabilitation.
Highlights
The hand measurement is essential in a diagnostic process, allowing forming the basis for precise hand medicine, guiding and personalizing therapy and possibly providing personalized robot parts for rehabilitation
This paper provides a concise and precise notation of the measures calculated based on the skeleton data provided by the Leap Motion device and its API, followed by hand measurement via the haptic device
All the hand flexion and skeleton data were collected with Leap Motion, Caliper, and Goniometer with supplementary measurement of wrist range via the haptic device
Summary
The hand measurement is essential in a diagnostic process, allowing forming the basis for precise hand medicine, guiding and personalizing therapy and possibly providing personalized robot parts for rehabilitation. In this case, accurate hand measurements are required to calibrate the machine or even create an effective end effector for particular hand anatomy and consider the patient’s needs and limitations. Accurate hand measurements are required to calibrate the machine or even create an effective end effector for particular hand anatomy and consider the patient’s needs and limitations These possibilities are instrumental in the case of stroke patients who may suffer from paresis of the upper limb. Rehabilitation after stroke is based on a multidisciplinary, individual approach to problems arising directly from the consequences of stroke and comorbidities in order to enable the best functioning at home and in social life [1]
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