Follow control of upper limb rehabilitation training based on Kinect and NAO robot / 生物医学工程学杂志
Journal of Biomedical Engineering
;
(6): 1189-1198, 2022.
Article
in Chinese
| WPRIM
| ID: wpr-970658
ABSTRACT
Gesture imitation is a common rehabilitation strategy in limb rehabilitation training. In traditional rehabilitation training, patients need to complete training actions under the guidance of rehabilitation physicians. However, due to the limited resources of the hospital, it cannot meet the training and guidance needs of all patients. In this paper, we proposed a following control method based on Kinect and NAO robot for the gesture imitation task in rehabilitation training. The method realized the joint angles mapping from Kinect coordination to NAO robot coordination through inverse kinematics algorithm. Aiming at the deflection angle estimation problem of the elbow joint, a virtual space plane was constructed and realized the accurate estimation of deflection angle. Finally, a comparative experiment for deflection angle of the elbow joint angle was conducted. The experimental results showed that the root mean square error of the angle estimation value of this method in right elbow transverse deflection and vertical deflection directions was 2.734° and 2.159°, respectively. It demonstrates that the method can follow the human movement in real time and stably using the NAO robot to show the rehabilitation training program for patients.
Full text:
Available
Index:
WPRIM (Western Pacific)
Main subject:
Biomechanical Phenomena
/
Robotics
/
Physical Therapy Modalities
/
Upper Extremity
/
Elbow Joint
/
Stroke Rehabilitation
Limits:
Humans
Language:
Chinese
Journal:
Journal of Biomedical Engineering
Year:
2022
Type:
Article
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