Virtual Reality-Based Framework to Simulate Control Algorithms for Robotic Assistance and Rehabilitation Tasks through a Standing Wheelchair

Abstract

The implementation of control algorithms oriented to robotic assistance and rehabilitation tasks for people with motor disabilities has been of increasing interest in recent years. However, practical implementation cannot be carried out unless one has the real robotic system availability. To overcome this drawback, this article presents the development of an interactive virtual reality (VR)-based framework that allows one to simulate the execution of rehabilitation tasks and robotic assistance through a robotic standing wheelchair. The virtual environment developed considers the kinematic and dynamic model of the standing human–wheelchair system with a displaced center of mass, since it can be displaced for different reasons, e.g.,: bad posture, limb amputations, obesity, etc. The standing wheelchair autonomous control scheme has been implemented through the Full Simulation (FS) and Hardware in the Loop (HIL) techniques. Finally, the performance of the virtual control schemes has been shown by means of several experiments based on robotic assistance and rehabilitation for people with motor disabilities.

Autonomous Robots for Services—State of the Art, Challenges, and Research Areas

“…In [ 53 ], Jessica S. Ortiz studies the implementation of control algorithms for assistive robots that help people with motor disabilities or for rehabilitation. The practical implementation of this system was not possible due to the lack of a robotic system; therefore, a virtual reality system was used to simulate a standing robotic wheelchair to perform the tasks of the experiment.…”

“…A challenge that has arisen in several fields concerning the activity of autonomous robots is the development of specific algorithms to improve the safety and efficiency level in their perception of a route without colliding with certain fixed or mobile obstacles. This has been experimentally tested in activities in hospitals [ 10 , 85 , 86 , 89 ], in industrial spaces [ 36 , 69 , 70 , 88 ], and when road driving [ 53 , 55 , 57 , 58 , 59 , 60 ]. Another raised issue is based on the scenario where the results are hard to obtain due to the deficient collaboration between autonomous robots when they are manipulating certain objects.…”

Interactive Teaching in Virtual Environments: Integrating Hardware in the Loop in a Brewing Process

“…For this reason, the implementation of VR and AR environments is emerging as a pedagogical approach that promises to revolutionize the way students acquire and apply technical knowledge and practical skills [17][18][19]. VR and AR have experienced significant advances in terms of hardware and software in recent years, enabling the creation of immersive and highly interactive learning environments [15,20]. These environments offer students the opportunity to experience and explore automation concepts in a virtual space that simulates real-world situations, providing a learning experience that transcends the limitations of traditional methods.…”

Wine Production through Virtual Environments with a Focus on the Teaching–Learning Process

“…This is the reason why the development of new tools that complement this teaching-learning process focuses on allowing the student to achieve a better understanding of the behavior of industrial processes. Tools such as simulators do not offer user-friendly interaction with the results of the process; therefore, various research works have focused on developing virtual environments that represent industrial jobs through real PLC controllers using the HIL technique [16,17]. This allows students to manipulate the process control hardware, that is, PLC or InTouch screens of a real process in a virtual work environment.…”