上臂机器人外骨骼三维虚拟平台的开发

M. Tageldeen, Irraivan Elamvazuthi, N. Perumal, Timothy Ganesan, A. Borboni
{"title":"上臂机器人外骨骼三维虚拟平台的开发","authors":"M. Tageldeen, Irraivan Elamvazuthi, N. Perumal, Timothy Ganesan, A. Borboni","doi":"10.1109/ROMA.2016.7847819","DOIUrl":null,"url":null,"abstract":"Robotic rehabilitation is overtaking traditional rehabilitation, since it ensures exercises are practiced accurately with flexibility in the degree of assistance that the patients require. Nevertheless, robotics rehabilitation is automatic and can become monotonous, hence, disengage the patient. Although Serious Games are an excellent approach to engaging the patients in robotics rehabilitation with exoskeletons, the lack of a specialty development platform leads game developer to invest a significant amount of time to produce the basic software functionalities of interfacing the hardware and controlling the communication between the different system components. This paper presents a set of interfacial nodes that makes up virtual 3D gaming environment that is based on but not limited to upper limb exoskeletons. The nodes use a combination of accelerometer, gyro, compass and a variable resistance to measure the joints kinematics and interpolates the dynamics, the framework provides functions that models the sensors input and simplify object generation in 3D Serious Games engines.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Development of a 3D virtual platform for an upper arm robotic exoskeleton\",\"authors\":\"M. Tageldeen, Irraivan Elamvazuthi, N. Perumal, Timothy Ganesan, A. Borboni\",\"doi\":\"10.1109/ROMA.2016.7847819\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Robotic rehabilitation is overtaking traditional rehabilitation, since it ensures exercises are practiced accurately with flexibility in the degree of assistance that the patients require. Nevertheless, robotics rehabilitation is automatic and can become monotonous, hence, disengage the patient. Although Serious Games are an excellent approach to engaging the patients in robotics rehabilitation with exoskeletons, the lack of a specialty development platform leads game developer to invest a significant amount of time to produce the basic software functionalities of interfacing the hardware and controlling the communication between the different system components. This paper presents a set of interfacial nodes that makes up virtual 3D gaming environment that is based on but not limited to upper limb exoskeletons. The nodes use a combination of accelerometer, gyro, compass and a variable resistance to measure the joints kinematics and interpolates the dynamics, the framework provides functions that models the sensors input and simplify object generation in 3D Serious Games engines.\",\"PeriodicalId\":409977,\"journal\":{\"name\":\"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMA.2016.7847819\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMA.2016.7847819","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3

摘要

机器人康复正在超越传统的康复,因为它确保了练习的准确性和病人需要的辅助程度的灵活性。然而,机器人康复是自动的,可能会变得单调,因此,脱离病人。虽然Serious Games是一种很好的方法,让患者参与外骨骼机器人康复,但缺乏专业开发平台导致游戏开发者投入大量时间来制作硬件接口的基本软件功能,并控制不同系统组件之间的通信。本文提出了一组基于但不限于上肢外骨骼的虚拟3D游戏环境的接口节点。节点使用加速度计、陀螺仪、指南针和可变阻力的组合来测量关节的运动学和动态插值,该框架提供了建模传感器输入的功能,简化了3D严肃游戏引擎中的对象生成。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development of a 3D virtual platform for an upper arm robotic exoskeleton
Robotic rehabilitation is overtaking traditional rehabilitation, since it ensures exercises are practiced accurately with flexibility in the degree of assistance that the patients require. Nevertheless, robotics rehabilitation is automatic and can become monotonous, hence, disengage the patient. Although Serious Games are an excellent approach to engaging the patients in robotics rehabilitation with exoskeletons, the lack of a specialty development platform leads game developer to invest a significant amount of time to produce the basic software functionalities of interfacing the hardware and controlling the communication between the different system components. This paper presents a set of interfacial nodes that makes up virtual 3D gaming environment that is based on but not limited to upper limb exoskeletons. The nodes use a combination of accelerometer, gyro, compass and a variable resistance to measure the joints kinematics and interpolates the dynamics, the framework provides functions that models the sensors input and simplify object generation in 3D Serious Games engines.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信