Coupled Human-machine Tele-manipulation

AbstractRobots are primarily deployed for tasks which are dirty, dull, or dangerous. While the former two are already highly automated, many dangerous tasks such as explosive ordnance disposal or inspection in hazardous environments are predominantly done via tele-operation. Usually, such tasks require the manipulation of objects in a way that cannot be done reliably with automated systems. In this paper, we present a method to tele-operate the manipulator of a robot by transferring the operator's arm movement. The movement is recorded with inertial measurement units which can be sewn into clothing and need no external infrastructure like cameras or motion capture systems. The lack of intermediate user interfaces (e.g. joysticks) makes this control method very intuitive and easy to learn. We demonstrate this with two different NIST manipulation tests and as part of an integrated system for the ELROB robot competition

A novel motion tracking system for evaluation of functional rehabilitation of the upper limbs

Upper limb function impairment is one of the most common sequelae of central nervous system injury, especially in stroke patients and when spinal cord injury produces tetraplegia. Conventional assessment methods cannot provide objective evaluation of patient performance and the tiveness of therapies. The most common assessment tools are based on rating scales, which are inefficient when measuring small changes and can yield subjective bias. In this study, we designed an inertial sensor-based monitoring system composed of five sensors to measure and analyze the complex movements of the upper limbs, which are common in activities of daily living. We developed a kinematic model with nine degrees of freedom to analyze upper limb and head movements in three dimensions. This system was then validated using a commercial optoelectronic system. These findings suggest that an inertial sensor-based motion tracking system can be used in patients who have upper limb impairment through data integration with a virtual reality-based neuroretation system

The reliability of side to side measurements of upper extremity activity levels in healthy subjects

<p>Abstract</p> <p>Background</p> <p>In both clinical and occupational settings, ambulatory sensors are becoming common for assessing all day measurements of arm motion. In order for the motion of a healthy, contralateral side to be used as a control for the involved side, the inherent side to side differences in arm usage must be minimal. The goal of the present study was to determine the reliability of side to side measurements of upper extremity activity levels in healthy subjects.</p> <p>Methods</p> <p>Thirty two subjects with no upper extremity pathologies were studied. Each subject wore a triaxial accelerometer on both arms for three and a half hours. Motion was assessed using parameters previously reported in the literature. Side to side differences were compared with the intraclass correlation coefficient, standard error of the mean, minimal detectable change scores and a projected sample size analysis.</p> <p>Results</p> <p>The variables were ranked based on their percentage of minimal detectable change scores and sample sizes needed for paired t-tests. The order of these rankings was found to be identical and the top ranked parameters were activity counts per hour (MDC% = 9.5, n = 5), jerk time (MDC% = 15.8, n = 8) and percent time above 30 degrees (MDC% = 34.7, n = 9).</p> <p>Conclusions</p> <p>In general, the mean activity levels during daily activities were very similar between dominant and non-dominant arms. Specifically, activity counts per hour, jerk time, and percent time above 30 degrees were found to be the variables most likely to reveal significant difference or changes in both individuals and groups of subjects. The use of ambulatory measurements of upper extremity activity has very broad uses for occupational assessments, musculoskeletal injuries of the shoulder, elbow, wrist and hand as well as neurological pathologies.</p

Upper Limb Portable Motion Analysis System Based on Inertial Technology for Neurorehabilitation Purpose

Here an inertial sensor-based monitoring system for measuring and analyzing upper limb movements is presented. The final goal is the integration of this motion-tracking device within a portable rehabilitation system for brain injury patients. A set of four inertial sensors mounted on a special garment worn by the patient provides the quaternions representing the patient upper limb’s orientation in space. A kinematic model is built to estimate 3D upper limb motion for accurate therapeutic evaluation. The human upper limb is represented as a kinematic chain of rigid bodies with three joints and six degrees of freedom. Validation of the system has been performed by co-registration of movements with a commercial optoelectronic tracking system. Successful results are shown that exhibit a high correlation among signals provided by both devices and obtained at the Institut Guttmann Neurorehabilitation Hospital

ACQUISITION AND PROCESSING OF SIGNALS FROM A TRIAXIAL MEMS ACCELEROMETER FOR MEASURING DISPLACEMENT OF A LOWER LIMB

Este trabajo es parte de una propuesta, que busca el diseño de nuevas herramientas de apoyo al especialista, para la mitigación de los problemas de discapacidad por movimiento. La adquisición y procesamiento, de las señales de un acelerómetro triaxial tipo MEMS (Micromachined Electro-Mechanical Systems) de bajo costo, son la base para el desarrollo de esta nueva propuesta. En este artículo se propone la integración de algoritmos matemáticos, para el procesamiento de señales adquiridas de un acelerómetro, con el propósito de obtener el desplazamiento una extremidad inferior.This work is part of a proposal, which seeks to design new tools to support the specialist for mitigating the problems of disability movement. The acquisition and processing of signals from triaxial MEMS (Micromachined Electro-Mechanical Systems) accelerometer low cost are the basis for the de velopment of this new proposal. This article proposes the integration of mathema tical algorithms for processing signals acquired from an accelerometer, in order to obtain the d isplacement of a lower limb

A methodology for the performance evaluation of inertial measurement units

This paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment. The misalignment among the reference systems and the lack of synchronization among the devices are the main problems for the correct performance evaluation using Vicon as reference measurement system. We propose a genetic algorithm coupled with Dynamic Time Warping (DTW) to solve these issues. To validate the efficacy of the methodology, a performance comparison is implemented between the WB-3 ultra-miniaturized Inertial Measurement Unit (IMU), developed by our group, with the commercial IMU InertiaCube3™ by InterSense

Neurological Tremor: Sensors, Signal Processing and Emerging Applications

Neurological tremor is the most common movement disorder, affecting more than 4% of elderly people. Tremor is a non linear and non stationary phenomenon, which is increasingly recognized. The issue of selection of sensors is central in the characterization of tremor. This paper reviews the state-of-the-art instrumentation and methods of signal processing for tremor occurring in humans. We describe the advantages and disadvantages of the most commonly used sensors, as well as the emerging wearable sensors being developed to assess tremor instantaneously. We discuss the current limitations and the future applications such as the integration of tremor sensors in BCIs (brain-computer interfaces) and the need for sensor fusion approaches for wearable solutions