Development of a Robot-assisted Virtual Rehabilitation System with Haptic Feedback

被引：1
作者：
Liou, Yan-Bo [1 ]
Luo, Shan [2 ]
Liu, Yen-Chen [1 ]
机构：
[1] Natl Cheng Kung Univ, Dept Mech Engn, Tainan 70101, Taiwan
[2] Kings Coll London, Dept Engn, London, England
来源：
2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN | 2023年
关键词：
D O I：
10.1109/RO-MAN57019.2023.10309456
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the issue of integrating haptic technology of a robotic system and virtual environment is discussed. A robot-assisted virtual rehabilitation system is developed for bilateral training and telerehabilitation. In the system, we designed a training scene in the Unity game engine for these two rehabilitation modes, the proposed framework between two robots and virtual environment can allow the end-effectors to perform tasks as hand avatars in Unity and provide force feedback from virtual environment, the haptic rendering is generated on robot's end-effector using a task-space impedance controller. Besides providing the feeling of interaction with virtual objects, we proposed a robot-assisted strategy to provide assistance force when the patient is unable to finish the task in virtual training scene, the assistance force can guide the patient to training path. We provide experiment results to demonstrate the performance of proposed system.
引用
收藏
页码：1956 / 1961
页数：6
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