Abstract
Abstract In this paper, we focus on the human upper limb rehabilitation scheme that utilizes the concept ofteleoperation. Teleoperation can help the therapist demonstrate different rehab exercises to a different group of people at the same time remotely. Different groups of people from a different place connected to the same network can get therapy from the same therapist at the same time using the telerehabilitation scheme. Here, we presented a humanoid robot NAO that can be operated remotely by a therapist to demonstrate the exercise to a patient. To mimic the movement demonstrated by the therapist, Kinect V2 sensor which is a markerless vision-based motion-tracking device, was used. Modified Denavit-Hartenberg (DH) convention was used for the kinematic modeling of the human upper arm. From the Kinect data, a geometric solution was developed to find a unique inverse kinematic solution of human upper-extremity. Experimental results revealed that NAO could be teleoperated successfully to instruct and demonstrate patients to perform different arm movement exercises in real-time.
Highlights
Stroke is one of the major causes of human upper limb impairment
In this paper, we focus on the human upper limb rehabilitation scheme that utilizes the concept of teleoperation
Different groups of people from a different place connected to the same network can get therapy from the same therapist at the same time using the telerehabilitation scheme
Summary
Stroke is one of the major causes of human upper limb impairment. it is the fifth leading cause of death for Americans. Extensive research has been done to develop robotic devices for rehabilitation of patients with upper limb impairment. Wang et al [14] transformed actor’s motion information into a critical frame, which is obtained by a Kinect sensor and applied inverse kinematics through an optimization process to obtain joint information of the NAO robot. Ningjia et al [17] calculated the joint angles of the robot using the spatial vector method from the data obtained by tracking a human actor through Kinect. Kinect sensor used for human upper and lower extremity motion assessment for the purpose of recovery improvement tracking and providing feedback [24,25,26,27]. NAO robot shows promising usability in the fields of pediatric rehabilitation, socially assistive robotics, human motion imitation and learning artificial intelligence [30,31,32,33,34]
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