Design of virtual reality systems integrated with the lower-limb exoskeleton for rehabilitation purpose

Pan, Cheng‐Tang; Lin, Zhe; Sun, Pei-Yuan; Chang, Chin‐Chen; Wang, S.Y; Yen, Chen‐Wen; Yang, Ya-Sung

doi:10.1109/icasi.2018.8394296

Cited by 11 publications

(4 citation statements)

References 5 publications

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“…Interestingly, only a few devices for providing kinesthetic feedback for walking in VR have been developed. They are mainly wearable robotic exoskeletons [26], [27] which provide force feedback to the user's lower limbs during walking in VR; however, this feedback is not related to the VR environment but is primarily used for locomotion training. An end-effector type force feedback device that can provide terrain-related feedback was presented in [28]; however, its main disadvantage is the large workspace requirement.…”

Section: Terrain Feedback During Walking In Vrmentioning

confidence: 99%

Haptic Ankle Platform for Interactive Walking in Virtual Reality

Otaran

Farkhatdinov

2022

IEEE Trans. Visual. Comput. Graphics

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This paper presents an impedance type ankle haptic interface for providing users with an immersive navigation experience in virtual reality (VR). The ankle platform, actuated by an electric motor with feedback control, enables the use of foot-tapping gestures to create a walking experience like a real one and to haptically render different types of walking terrains. Experimental studies demonstrated that the interface can be easily used to generate virtual walking and is capable of rendering terrains, such as hard and soft surfaces, and multi-layer complex dynamic terrains. The designed system is a seated-type VR locomotion interface, therefore allowing its user to maintain a stable seated posture to comfortably navigate a virtual scene.

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Section: Terrain Feedback During Walking In Vrmentioning

confidence: 99%

Haptic Ankle Platform for Interactive Walking in Virtual Reality

Otaran

Farkhatdinov

2022

IEEE Trans. Visual. Comput. Graphics

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“…Following this lead, various application specific devices including some patented ones have been proposed in literature [1][2][3][4][5][6]. The application areas vary diversely from medical, military to gaming industries [7][8][9]. In the medical industry, exo-skeletons can be used as rehabilitation assistance devices for recovery of patients suffering from temporary muscular malfunction (neurological disorders).…”

Section: Introductionmentioning

confidence: 99%

Design, modeling and control of an index finger exoskeleton for rehabilitation

et al. 2022

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With diverse areas of applications, wearable robotic exoskeleton devices have gained attention in the past decade. These devices cover one or more human limbs/joints and have been presented for rehabilitation, strength augmentation and interaction with virtual reality. This research is focused towards design, modeling and control of a novel series elastic actuation (SEA) based index finger exoskeleton with a targeted torque rendering capability of 0.3 Nm and a force control bandwidth of 3 Hz. The proposed design preserves the natural range of motion of the finger by incorporating five passive and two actively actuated joints and provides active control of metacarpophalangeal and proximal interphalangeal joints. Forward and inverse kinematics for both position and velocity have been solved using closed loop vector analysis by including human finger as an integral part of the system. For accurate force control, a cascaded control structure has been presented. Force controlled trajectories have been proposed to guide the finger along preprogrammed virtual paths. Such trajectories serve to gently guide the finger towards the correct rehabilitation protocol, thus acting as an effective replacement of intervention by a human therapist. Extensive computer simulations have been performed before fabricating a prototype and performing experimental validation. Results show accurate modeling and control of the proposed design.

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“…There are other works that focus on the study of injuries from other areas such as the ankle [7][8][9]. Other works focused on one of the Sensors 2020, 20, 858 3 of 17 most important joints of the lower extremities such as the knee [10][11][12][13][14][15]. In all these works, the use of robotic exoskeleton systems is another part of the traditional physiotherapeutic rehabilitation that is advised by an expert and is performed in a traditional clinical setting.…”

Section: Introductionmentioning

confidence: 99%

Connected Elbow Exoskeleton System for Rehabilitation Training Based on Virtual Reality and Context-Aware

Iglesia

Mendes

González

et al. 2020

Sensors

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Traditional physiotherapy rehabilitation systems are evolving into more advanced systems based on exoskeleton systems and Virtual Reality (VR) environments that enhance and improve rehabilitation techniques and physical exercise. In addition, due to current connected systems and paradigms such as the Internet of Things (IoT) or Ambient Intelligent (AmI) systems, it is possible to design and develop advanced, effective, and low-cost medical tools that patients may have in their homes. This article presents a low-cost exoskeleton for the elbow that is connected to a Context-Aware architecture and thanks to a VR system the patient can perform rehabilitation exercises in an interactive way. The integration of virtual reality technology in rehabilitation exercises provides an intensive, repetitive and task-oriented capacity to improve patient motivation and reduce work on medical professionals. One of the system highlights is the intelligent ability to generate new exercises, monitor the exercises performed by users in search of progress or possible problems and the dynamic modification of the exercises characteristics. The platform also allows the incorporation of commercial medical sensors capable of collecting valuable information for greater accuracy in the diagnosis and evolution of patients. A case study with real patients with promising results has been carried out.

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Design of virtual reality systems integrated with the lower-limb exoskeleton for rehabilitation purpose

Cited by 11 publications

References 5 publications

Haptic Ankle Platform for Interactive Walking in Virtual Reality

Haptic Ankle Platform for Interactive Walking in Virtual Reality

Design, modeling and control of an index finger exoskeleton for rehabilitation

Connected Elbow Exoskeleton System for Rehabilitation Training Based on Virtual Reality and Context-Aware

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