Haptic Rendering of Soft Object Interaction for Robot-aided Neurorehabilitation

Yudong Liu1; Mingming Zhang2

10.1109/ICARM54641.2022.9959392

2022

7th IEEE International Conference on Advanced Robotics and Mechatronics

978-1-6654-8307-0

2022 International Conference on Advanced Robotics and Mechatronics (ICARM)

623-630

9-11 July 2022

Guilin, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Neurologically impaired patients usually suffer from upper limb problems which affect their capabilities to perform activities of daily living (ADLs). To improve patients' quality of life, several robots have been developed to deliver ADL trainings with haptic feedback which composes of interactive force that simulates tasks in physical world and haptic assistance/resistance derived from task-oriented control strategies. Specifically, the reality of delivered interactive force greatly relies on proper force modeling and robotic prototype. However, the majority of existing force models designed for rehabilitation are generally simplified to represent rigid bodies, which could not satisfy the increasing demands for modeling soft objects in complicated environment. Suitable robotic design should be determined to deliver these trainings. Herein, a training system that allows delivery of ADL tasks involving soft object manipulation is developed in this study. The system composes of a force simulator and a rehabilitation robot. Experiments were performed on a healthy individual with a cutting bread task. Effectiveness of this system was validated from following aspects: the robotic position/force tracing performance and realization of training task. Specifically, the position tracing error of robot was less than 2 mm and relative force tracing error was 5.5%. The individual was capable to perform cutting task, the average motion error was 0.13 mm. These results indicate that the proposed system has potential in delivering ADL trainings that involve soft object interaction. Future work will optimize the force tracing performance and examine this application in terms of clinical tests.

Training Mechatronics Force Prototypes Rendering (computer graphics) Assistive robots Haptic interfaces

First

English

CPCI-S

National Natural Science Foundation of China[61903181] ; Natural Science Foundation of Guangdong Province[2020A151501401] ; Research Foundation of Guangdong Province[2020ZDZX3001] ; Shenzhen-Hong Kong Institute of Brain Science-Shenzhen Fundamental Research Institutions[2021SHIBS0002] ; Shenzhen Key Laboratory of Smart Healthcare Engineering[ZDSYS20200811144003009]

Automation & Control Systems ; Engineering ; Robotics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics

WOS:000926398000101

IEEE

1.Shenzhen Key Laboratory of Smart Healthcare Engineering, Southern University of Science and Technology, Shenzhen, China
2.Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China

Yudong Liu,Mingming Zhang. Haptic Rendering of Soft Object Interaction for Robot-aided Neurorehabilitation[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:623-630.