scholarly journals Developing a Robot-Guided Interactive Simon Game for Physical and Cognitive Training

2019 ◽  
Vol 16 (01) ◽  
pp. 1950003
Author(s):  
Mısra Turp ◽  
José Carlos González ◽  
José Carlos Pulido ◽  
Fernando Fernández

Enveloping cognitive or physical rehabilitation into a game highly increases the patients’ commitment with their treatment. Specially with children, keeping them motivated is a very time-consuming work, so therapists are demanding tools to help them with this task. NAOTherapist is a generic robotic architecture that uses Automated Planning techniques to autonomously drive noncontact upper-limb rehabilitation sessions for children with a humanoid NAO robot. Our aim is to develop more robotic games for this platform to enrich its variability and possibilities of interaction. The goal of this work is to present our first attempt to develop a different, more complex game that reuses the previous architecture. We contribute with the design description of a novel robotic Simon game that employs upper-limb poses instead of colors and could qualify as a cognitive and physical training. Statistics of evaluation tests with 14 adults and 56 children are displayed and the outcomes are analyzed in terms of human–robot interaction (HRI) quality. The results demonstrate the application-domain generalization capabilities of the NAOTherapist architecture and give an insight to further analyze the therapeutic benefits of the new developed Simon game.

2020 ◽  
pp. 1-17
Author(s):  
Qing Sun ◽  
Shuai Guo ◽  
Leigang Zhang

BACKGROUND: The definition of rehabilitation training trajectory is of great significance during rehabilitation training, and the dexterity of human-robot interaction motion provides a basis for selecting the trajectory of interaction motion. OBJECTIVE: Aimed at the kinematic dexterity of human-robot interaction, a velocity manipulability ellipsoid intersection volume (VMEIV) index is proposed for analysis, and the dexterity distribution cloud map is obtained with the human-robot cooperation space. METHOD: Firstly, the motion constraint equation of human-robot interaction is established, and the Jacobian matrix is obtained based on the speed of connecting rod. Then, the Monte Carlo method and the cell body segmentation method are used to obtain the collaborative space of human-robot interaction, and the VMEIV of human-robot interaction is solved in the cooperation space. Finally, taking the upper limb rehabilitation robot as the research object, the dexterity analysis of human-robot interaction is carried out by using the index of the approximate volume of the VMEIV. RESULTS: The results of the simulation and experiment have a certain consistency, which indicates that the VMEIV index is effective as an index of human-robot interaction kinematic dexterity. CONCLUSIONS: The VMEIV index can measure the kinematic dexterity of human-robot interaction, and provide a reference for the training trajectory selection of rehabilitation robot.


2021 ◽  
Author(s):  
Stefano Dalla Gasperina ◽  
Valeria Longatelli ◽  
Francesco Braghin ◽  
Alessandra Laura Giulia Pedrocchi ◽  
Marta Gandolla

Abstract Background: Appropriate training modalities for post-stroke upper-limb rehabilitation are key features for effective recovery after the acute event. This work presents a novel human-robot cooperative control framework that promotes compliant motion and renders different high-level human-robot interaction rehabilitation modalities under a unified low-level control scheme. Methods: The presented control law is based on a loadcell-based impedance controller provided with positive-feedback compensation terms for disturbances rejection and dynamics compensation. We developed an elbow flexion-extension experimental setup, and we conducted experiments to evaluate the controller performances. Seven high-level modalities, characterized by different levels of (i) impedance-based corrective assistance, (ii) weight counterbalance assistance, and (iii) resistance, have been defined and tested with 14 healthy volunteers.Results: The unified controller demonstrated suitability to promote good transparency and render compliant and high-impedance behavior at the joint. Superficial electromyography results showed different muscular activation patterns according to the rehabilitation modalities. Results suggested to avoid weight counterbalance assistance, since it could induce different motor relearning with respect to purely impedance-based corrective strategies. Conclusion: We proved that the proposed control framework could implement different physical human-robot interaction modalities and promote the assist-as-needed paradigm, helping the user to accomplish the task, while maintaining physiological muscular activation patterns. Future insights involve the extension to multiple degrees of freedom robots and the investigation of an adaptation control law that makes the controller learn and adapt in a therapist-like manner.


2020 ◽  
pp. 1-15
Author(s):  
Qiaolian Xie ◽  
Qiaoling Meng ◽  
Yue Dai ◽  
Qingxin Zeng ◽  
Yuanjie Fan ◽  
...  

BACKGROUND: Upper limb rehabilitation robots have become an important piece of equipment in stroke rehabilitation. Human-robot coupling (HRC) dynamics play a key role in the control of rehabilitation robots to improve human-robot interaction. OBJECTIVE: This study aims to study the methods of modeling and analysis of HRC dynamics to realize more accurate dynamic control of upper limb rehabilitation robots. METHODS: By the analysis of force interaction between the human arm and the upper limb rehabilitation robot, the HRC torque is achieved by summing up the robot torque and the human arm torque. The HRC torque and robot torque of a 2-DOF upper limb rehabilitation robot (FLEXO-Arm) are solved by Lagrangian equation and step-by-step dynamic parameters identification method. RESULTS: The root mean square (RMS) is used to evaluate the accuracy of the HRC torque and the robot torque calculated by the parameter identification, and the error of both is about 10%. Moreover, the HRC torque and the robot torque are compared with the actual torque measured by torque sensors. The error of the robot torque is more than twice the HRC. Therefore, the HRC torque is more accurate than the actual torque. CONCLUSIONS: The proposed HRC dynamics effectively achieves more accurate dynamic control of upper limb rehabilitation robots.


Micromachines ◽  
2021 ◽  
Vol 12 (8) ◽  
pp. 870
Author(s):  
Md Rasedul Islam ◽  
Md Assad-Uz-Zaman ◽  
Brahim Brahmi ◽  
Yassine Bouteraa ◽  
Inga Wang ◽  
...  

The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Patients may need both kinds of exercises, depending on the type, level, and degree of impairments. This work focused on designing and developing a seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton called ‘u-Rob’ that functions as both exoskeleton and end-effector types device. Furthermore, HRI can be improved by monitoring the interaction forces between the robot and the wearer. Existing upper limb robots lack the ability to monitor interaction forces during passive rehabilitation exercises; measuring upper arm forces is also absent in the existing devices. This research work aimed to develop an innovative sensorized upper arm cuff to measure the wearer’s interaction forces in the upper arm. A PID control technique was implemented for both joint-based and end-point exercises. The experimental results validated both types of functionality of the developed robot.


2019 ◽  
Vol 16 (4) ◽  
pp. 172988141985613
Author(s):  
Xiangxing Liu ◽  
Guokun Zuo ◽  
Jiaji Zhang ◽  
Jiajin Wang

In human robot interaction systems, human intent detection plays an important role to improve the interactive performances and then the rehabilitation effects. A study is proposed to estimate the interactive forces that indirectly detect the human motion intent. A disturbance observer is designed to estimate interactive torques and friction forces without force sensors, and then a friction force model is constructed to estimate the friction force in the robot system. To detect the human–robot interaction force, we subtract the friction force from disturbance observer estimation result. Several experiments were performed to test the performances of the proposed methods. Those methods were applied in an end-effect upper limb rehabilitation robot system. The results show that the precision of the estimated sensor force can increase 5% than the force sensor. The senseless force estimation method we proposed in this article can be an alternative option in force control tasks when force sensors are not suitable.


2021 ◽  
Vol 8 ◽  
Author(s):  
Aida Amirova ◽  
Nazerke Rakhymbayeva ◽  
Elmira Yadollahi ◽  
Anara Sandygulova ◽  
Wafa Johal

The evolving field of human-robot interaction (HRI) necessitates that we better understand how social robots operate and interact with humans. This scoping review provides an overview of about 300 research works focusing on the use of the NAO robot from 2010 to 2020. This study presents one of the most extensive and inclusive pieces of evidence on the deployment of the humanoid NAO robot and its global reach. Unlike most reviews, we provide both qualitative and quantitative results regarding how NAO is being used and what has been achieved so far. We analyzed a wide range of theoretical, empirical, and technical contributions that provide multidimensional insights, such as general trends in terms of application, the robot capabilities, its input and output modalities of communication, and the human-robot interaction experiments that featured NAO (e.g. number and roles of participants, design, and the length of interaction). Lastly, we derive from the review some research gaps in current state-of-the-art and provide suggestions for the design of the next generation of social robots.


Author(s):  
Linda Onnasch ◽  
Eileen Roesler

Anthropomorphic framing of social robots is widely believed to facilitate human-robot interaction. In two subsequent studies, the impact of anthropomorphic framing was examined regarding the subjective perception of a robot and the willingness to donate money for this robot. In both experiments, participants received either an anthropomorphic or a functional description of a humanoid NAO robot prior to a cooperative task. Afterwards the perceived robot’s humanlike perception and the willingness to “save” the robot from malfunctioning were assessed (donation behavior). Surprisingly, the first study revealed a negative effect of anthropomorphic framing on the willingness to donate. This negative effect disappeared if the robot’s functional value for the task fulfillment was additionally made explicit (Study 2). In both studies, no effect of anthropomorphic framing on the humanlike perception of the robot was found. However, the behavioral results support the relevance of a functional awareness in social human-robot interaction.


2016 ◽  
Vol 13 (03) ◽  
pp. 1550042 ◽  
Author(s):  
Qing-Cong Wu ◽  
Xing-Song Wang ◽  
Feng-Po Du

Robot-assisted therapy has played a significant role in helping the disabled patients to restore motor functions. In this paper, a redundant exoskeleton is developed for upper-limb rehabilitation. An analytical methodology for obtaining the inverse kinematic solution of the exoskeleton is presented to provide synchronized movement with patients and ensure natural human–robot interaction. To mathematically express the redundancy problem, the swivel angle of elbow is introduced as an additional parameter to specify the human arm congratulation with a predefined wrist location. A kinematic criterion is proposed to determine the swivel angle by imitating the natural reflexive reaction of human arm. The effectiveness of the proposed strategy is experimentally evaluated via four representative types of upper-limb motion tasks. During the experiments, the actual kinematic data of human arm is collected by utilizing an articulated motion capture system integrated with inertial sensors and, after that, compared to the estimation results generated by the proposed redundancy resolution. The experimental results indicate that the kinematic criterion of swivel angle is suitable to describe the free reaching movement without additional constraints. Moreover, with the estimated swivel angles, the root mean square errors between the actual and calculated joint angles are normally less than 8[Formula: see text].


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