Hybrid Inertial-Robotic Motion Tracking for Posture Biofeedback in Upper Limb Rehabilitation

Passon A, Schauer T, Seel T (2018)

Publication Type: Conference contribution

Publication year: 2018

Publisher: IEEE Computer Society

Book Volume: 2018-August

Pages Range: 1163-1168

Conference Proceedings Title: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

Event location: Enschede NL

ISBN: 9781538681831

DOI: 10.1109/BIOROB.2018.8487203

Abstract

Rehabilitation robotics and neuromuscular stimulation have become widespread technologies for rehabilitation training of stroke and spinal cord injured patients. In this context, real-time tracking of the performed motion facilitates real-time control of the motion support and biofeedback about undesired compensatory motions. We consider a cable-driven robotic system for upper limb rehabilitation and extend it by two wearable inertial sensors. By sensor fusion of the robotic and inertial measurements, we obtain accurate estimates of the forearm and upper arm orientation and position, which cannot be obtained by either of both measurement systems alone. A real-time biofeedback is introduced to prevent undesired compensatory motions of the trunk and shoulder. The proposed methods are evaluated with respect to an optical reference system in a series of experimental trials with and without compensatory motions. Using only the robotic sensors yields average measurement errors of up to 24 cm for the shoulder position and 19° for the elbow angle. In contrast, the proposed hybrid sensor fusion achieves accuracies better than 6 cm and 4°, respectively.

Authors with CRIS profile

Thomas Seel

Involved external institutions

Technische Universität Berlin DE Germany (DE)

How to cite

APA:

Passon, A., Schauer, T., & Seel, T. (2018). Hybrid Inertial-Robotic Motion Tracking for Posture Biofeedback in Upper Limb Rehabilitation. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 1163-1168). Enschede, NL: IEEE Computer Society.

MLA:

Passon, Arne, Thomas Schauer, and Thomas Seel. "Hybrid Inertial-Robotic Motion Tracking for Posture Biofeedback in Upper Limb Rehabilitation." Proceedings of the 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018, Enschede IEEE Computer Society, 2018. 1163-1168.

BibTeX: Download