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A Novel End-Effector Robot System Enabling to Monitor Upper-Extremity Posture during Robot-Aided Planar Reaching Movements

Title
A Novel End-Effector Robot System Enabling to Monitor Upper-Extremity Posture during Robot-Aided Planar Reaching Movements
Authors
Hwang, YejiLee, SeongpungHong, JaesungKim, Jonghyun
DGIST Authors
Hwang, Yeji; Lee, Seongpung; Hong, Jaesung; Kim, Jonghyun
Issue Date
2020-04
Citation
IEEE Robotics and Automation Letters, 5(2), 3035-3041
Type
Article
Article Type
Article
Author Keywords
Rehabilitation roboticshuman detection and trackingend-effector type robotreaching movement
Keywords
MOTOR FUNCTION IMPAIRMENTKINEMATICSTRACKINGSENSORSSTROKEKINECT
ISSN
2377-3766
Abstract
End-effector type robots have been popularly applied to robot-aided therapy for rehabilitation purpose. However, those robots have a key drawback for the purpose: lack of the user's posture (joint angle) information. This letter proposes a novel end-effector rehabilitation robot system that contains a contactless motion sensor to monitor upper- extremity posture during robot-aided reaching exercise. The sensor allows the posture estimation without complicated procedures but has an inaccuracy problem such as occlusion and an unreliable segment length. Therefore, we developed a posture monitoring method, which is an analytical method without training procedure, based on the combined use of the information obtained from the sensor and the robot. Eight healthy subjects participated in the experiment with planar reaching exercise for validation. The results of joint angle estimation, high correlation coefficient (0.95 ± 0.03) and small errors (3.55 ± 0.70 deg), show that the proposed system can provide affordable upper-extremity posture estimation. © 2020 IEEE.
URI
http://hdl.handle.net/20.500.11750/11694
DOI
10.1109/LRA.2020.2974453
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Hong, Jaesung Surgical Robotics & Augmented Reality Lab
  • Research Interests Surgical Navigation; Surgical Robot; Medical Imaging; 영상 유도 수술 로봇; 수술 내비게이션
Files:
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Collection:
Department of Robotics EngineeringSurgical Robotics & Augmented Reality Lab1. Journal Articles
Department of Robotics EngineeringREL(Rehabilitation Engineering Laboratory)1. Journal Articles


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