MAGNI Dynamics: A Vision-Based Kinematic and Dynamic Upper-Limb Model for Intelligent Robotic Rehabilitation

<!DOCTYPE html> <html lang="en" dir="ltr"> <head>  <script async src="https://www.googletagmanager.com/gtag/js?id=G-P63WKM1TM1"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'G-P63WKM1TM1'); </script>  <script type="text/javascript" > (function(m,e,t,r,i,k,a){m[i]=m[i]||function(){(m[i].a=m[i].a||[]).push(arguments)}; m[i].l=1*new Date(); for (var j = 0; j < document.scripts.length; j++) {if (document.scripts[j].src === r) { return; }} k=e.createElement(t),a=e.getElementsByTagName(t)[0],k.async=1,k.src=r,a.parentNode.insertBefore(k,a)}) (window, document, "script", "https://mc.yandex.ru/metrika/tag.js", "ym"); ym(55165297, "init", { clickmap:false, trackLinks:true, accurateTrackBounce:true, webvisor:false }); </script> <noscript><div><img src="https://mc.yandex.ru/watch/55165297" style="position:absolute; left:-9999px;" alt="" /></div></noscript>    <title>MAGNI Dynamics: A Vision-Based Kinematic and Dynamic Upper-Limb Model for Intelligent Robotic Rehabilitation</title> <meta name="description" content="MAGNI Dynamics: A Vision-Based Kinematic and Dynamic Upper-Limb Model for Intelligent Robotic Rehabilitation"> <meta name="keywords" content="Human-robot interaction, kinect, kinematics, dynamics, haptic control, rehabilitation robotics, artificial intelligence."> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <meta name="citation_title" content="MAGNI Dynamics: A Vision-Based Kinematic and Dynamic Upper-Limb Model for Intelligent Robotic Rehabilitation"> <meta name="citation_author" content="Alexandros Lioulemes"> <meta name="citation_author" content="Michail Theofanidis"> <meta name="citation_author" content="Varun Kanal"> <meta name="citation_author" content="Konstantinos Tsiakas"> <meta name="citation_author" content="Maher Abujelala"> <meta name="citation_author" content="Chris Collander"> <meta name="citation_author" content="William B. Townsend"> <meta name="citation_author" content="Angie Boisselle"> <meta name="citation_author" content="Fillia Makedon"> <meta name="citation_publication_date" content="2017/03/03"> <meta name="citation_journal_title" content="International Journal of Biomedical and Biological Engineering"> <meta name="citation_volume" content="11"> <meta name="citation_issue" content="4"> <meta name="citation_firstpage" content="158"> <meta name="citation_lastpage" content="167"> <meta name="citation_pdf_url" content="https://publications.waset.org/10006973/pdf"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler ml-auto" type="button" data-toggle="collapse" data-target="#navbarMenu" aria-controls="navbarMenu" aria-expanded="false" aria-label="Toggle navigation"> <span class="navbar-toggler-icon"></span> </button> <div class="w-100"> <div class="d-none d-lg-flex flex-row-reverse"> <form method="get" action="https://waset.org/search" class="form-inline my-2 my-lg-0"> <input class="form-control mr-sm-2" type="search" placeholder="Search Conferences" value="" name="q" aria-label="Search"> <button class="btn btn-light my-2 my-sm-0" type="submit"><i class="fas fa-search"></i></button> </form> </div> <div class="collapse navbar-collapse mt-1" id="navbarMenu"> <ul class="navbar-nav ml-auto align-items-center" id="mainNavMenu"> <li class="nav-item"> <a class="nav-link" href="https://waset.org/conferences" title="Conferences in 2024/2025/2026">Conferences</a> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/disciplines" title="Disciplines">Disciplines</a> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/committees" rel="nofollow">Committees</a> </li> <li class="nav-item dropdown"> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdownPublications" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> Publications </a> <div class="dropdown-menu" aria-labelledby="navbarDropdownPublications"> <a class="dropdown-item" href="https://publications.waset.org/abstracts">Abstracts</a> <a class="dropdown-item" href="https://publications.waset.org">Periodicals</a> <a class="dropdown-item" href="https://publications.waset.org/archive">Archive</a> </div> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/page/support" title="Support">Support</a> </li> </ul> </div> </div> </nav> </div> </header> <main> <div class="container mt-4"> <div class="row"> <div class="col-md-9 mx-auto"> <form method="get" action="https://publications.waset.org/search"> <div id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value=""> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 33093</div> </div> </div> </div> <div class="card publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">MAGNI Dynamics: A Vision-Based Kinematic and Dynamic Upper-Limb Model for Intelligent Robotic Rehabilitation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Alexandros%20Lioulemes">Alexandros Lioulemes</a>, <a href="https://publications.waset.org/search?q=Michail%20Theofanidis"> Michail Theofanidis</a>, <a href="https://publications.waset.org/search?q=Varun%20Kanal"> Varun Kanal</a>, <a href="https://publications.waset.org/search?q=Konstantinos%20Tsiakas"> Konstantinos Tsiakas</a>, <a href="https://publications.waset.org/search?q=Maher%20Abujelala"> Maher Abujelala</a>, <a href="https://publications.waset.org/search?q=Chris%20Collander"> Chris Collander</a>, <a href="https://publications.waset.org/search?q=William%20B.%20Townsend"> William B. Townsend</a>, <a href="https://publications.waset.org/search?q=Angie%20Boisselle"> Angie Boisselle</a>, <a href="https://publications.waset.org/search?q=Fillia%20Makedon"> Fillia Makedon</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a home-based robot-rehabilitation instrument, called ”MAGNI Dynamics”, that utilized a vision-based kinematic/dynamic module and an adaptive haptic feedback controller. The system is expected to provide personalized rehabilitation by adjusting its resistive and supportive behavior according to a fuzzy intelligence controller that acts as an inference system, which correlates the user’s performance to different stiffness factors. The vision module uses the Kinect’s skeletal tracking to monitor the user’s effort in an unobtrusive and safe way, by estimating the torque that affects the user’s arm. The system’s torque estimations are justified by capturing electromyographic data from primitive hand motions (Shoulder Abduction and Shoulder Forward Flexion). Moreover, we present and analyze how the Barrett WAM generates a force-field with a haptic controller to support or challenge the users. Experiments show that by shifting the proportional value, that corresponds to different stiffness factors of the haptic path, can potentially help the user to improve his/her motor skills. Finally, potential areas for future research are discussed, that address how a rehabilitation robotic framework may include multisensing data, to improve the user’s recovery process. <iframe src="https://publications.waset.org/10006973.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Human-robot%20interaction" title="Human-robot interaction">Human-robot interaction</a>, <a href="https://publications.waset.org/search?q=kinect" title=" kinect"> kinect</a>, <a href="https://publications.waset.org/search?q=kinematics" title=" kinematics"> kinematics</a>, <a href="https://publications.waset.org/search?q=dynamics" title=" dynamics"> dynamics</a>, <a href="https://publications.waset.org/search?q=haptic%20control" title=" haptic control"> haptic control</a>, <a href="https://publications.waset.org/search?q=rehabilitation%20robotics" title=" rehabilitation robotics"> rehabilitation robotics</a>, <a href="https://publications.waset.org/search?q=artificial%0D%0Aintelligence." title=" artificial intelligence."> artificial intelligence.</a> </p> <p class="card-text"><strong>Digital Object Identifier (DOI):</strong> <a href="https://doi.org/10.5281/zenodo.1340176" target="_blank">doi.org/10.5281/zenodo.1340176</a> </p> <a href="https://publications.waset.org/10006973/magni-dynamics-a-vision-based-kinematic-and-dynamic-upper-limb-model-for-intelligent-robotic-rehabilitation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10006973/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10006973/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10006973/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10006973/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10006973/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10006973/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10006973/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10006973/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10006973/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10006973/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10006973.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1319</span> </span> <p class="card-text"><strong>References:</strong></p> <br>[1] Sivan, Manoj, et al. ”Home-based Computer Assisted Arm Rehabilitation (hCAAR) robotic device for upper limb exercise after stroke: results of a feasibility study in home setting.” Journal of neuroengineering and rehabilitation 11.1 (2014): 1. <br>[2] Mukhopadhyay, Subhas Chandra. ”Wearable sensors for human activity monitoring: A review.” IEEE Sensors Journal 15.3 (2015): 1321-1330. <br>[3] Theofanidis Michail, Lioulemes Alexandros, and Makedon Fillia. ”A Motion and Force Analysis System for Human Upper-limb Exercises.” International Conference on PErvasive Technologies Related to Assistive Environments,(PETRA), Corfu Island Greece. 2016. <br>[4] Delsys, Inc. http://www.delsys.com/, Accessed on 03/22/2017. <br>[5] H. 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Goodheart. ”On the reliability and validity of manual muscle testing: a literature review.” Chiropractic & osteopathy 15.1 (2007) <br>[9] Jepsen, Jrgen, et al. ”Manual strength testing in 14 upper limb muscles A study of inter-rater reliability.” Acta Orthopaedica Scandinavica 75.4 (2004): 442-448. <br>[10] Toemen, Angela, Sarah Dalton, and Fiona Sandford. ”The intra-and inter-rater reliability of manual muscle testing and a hand-held dynamometer for measuring wrist strength in symptomatic and asymptomatic subjects.” Hand Therapy 16.3 (2011): 67-74. <br>[11] Osu, Rieko, and Hiroaki Gomi. ”Multijoint muscle regulation mechanisms examined by measured human arm stiffness and EMG signals.” Journal of neurophysiology 81.4 (1999): 1458-1468. <br>[12] Banala, Sai K., Suni K. Agrawal, and John P. Scholz. ”Active Leg Exoskeleton for gait rehabilitation of motor-impaired patients.” In 2007 IEEE 10th International Conference on Rehabilitation Robotics, pp. 401-407. IEEE, 2007. <br>[13] Abujelala, Maher, Alexandros Lioulemes, Paul Sassaman, and Fillia Makedon. ”Robot-aided rehabilitation using force analysis.” In Proceedings of the 8th ACM International Conference on PErvasive Technologies Related to Assistive Environments, p. 97. ACM, 2015. <br>[14] Phan, Scott, Alexandros Lioulemes, Cyril Lutterodt, Fillia Makedon, and Vangelis Metsis. ”Guided physical therapy through the use of the barrett wam robotic arm.” In Haptic, Audio and Visual Environments and Games (HAVE), 2014 IEEE International Symposium on, pp. 24-28. IEEE, 2014. <br>[15] Saraee,Elham, Margrit Betke. ”Dynamic Adjustment of Physical Exercises Based on Performance Using the Proficio Robotic Arm.” In Proceedings of the 8th ACM International Conference on PErvasive Technologies Related to Assistive Environments. ACM, 2016. <br>[16] Liu, J., J. L. Emken, S. C. Cramer, and D. J. 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Upper Saddle River: Pearson Prentice Hall, 2005. <br>[25] Gattupalli, S., Lioulemes, A., Gieser, S., N., Sassaman, P., Athitsos, V., Makedon F., ”MAGNI: A Real-Time Robot-Aided Game-Based Tele-Rehabilitation System”., Universal Access in Human-Computer Interaction. 10th International Conference, UAHCI 2016, Held as Part of HCI International 2016, Toronto, ON, Canada, July 17-22, 2016. </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/WASET-16th-foundational-anniversary.pdf">WASET celebrates its 16th foundational anniversary</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Account <li><a href="https://waset.org/profile">My Account</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Explore <li><a href="https://waset.org/disciplines">Disciplines</a></li> <li><a href="https://waset.org/conferences">Conferences</a></li> <li><a href="https://waset.org/conference-programs">Conference Program</a></li> <li><a href="https://waset.org/committees">Committees</a></li> <li><a href="https://publications.waset.org">Publications</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Research <li><a href="https://publications.waset.org/abstracts">Abstracts</a></li> <li><a href="https://publications.waset.org">Periodicals</a></li> <li><a href="https://publications.waset.org/archive">Archive</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Open Science <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Philosophy.pdf">Open Science Philosophy</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Award.pdf">Open Science Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Society-Open-Science-and-Open-Innovation.pdf">Open Innovation</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Postdoctoral-Fellowship-Award.pdf">Postdoctoral Fellowship Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Scholarly-Research-Review.pdf">Scholarly Research Review</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Support <li><a href="https://waset.org/page/support">Support</a></li> <li><a href="https://waset.org/profile/messages/create">Contact Us</a></li> <li><a href="https://waset.org/profile/messages/create">Report Abuse</a></li> </ul> </div> </div> </div> </div> </div> <div class="container text-center"> <hr style="margin-top:0;margin-bottom:.3rem;"> <a href="https://creativecommons.org/licenses/by/4.0/" target="_blank" class="text-muted small">Creative Commons Attribution 4.0 International License</a> <div id="copy" class="mt-2">© 2024 World Academy of Science, Engineering and Technology</div> </div> </footer> <a href="javascript:" id="return-to-top"><i class="fas fa-arrow-up"></i></a> <div class="modal" id="modal-template"> <div class="modal-dialog"> <div class="modal-content"> <div class="row m-0 mt-1"> <div class="col-md-12"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> </div> </div> <div class="modal-body"></div> </div> </div> </div> <script src="https://cdn.waset.org/static/plugins/jquery-3.3.1.min.js"></script> <script src="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/js/bootstrap.bundle.min.js"></script> <script src="https://cdn.waset.org/static/js/site.js?v=150220211556"></script> <script> jQuery(document).ready(function() { /*jQuery.get("https://publications.waset.org/xhr/user-menu", function (response) { jQuery('#mainNavMenu').append(response); });*/ jQuery.get({ url: "https://publications.waset.org/xhr/user-menu", cache: false }).then(function(response){ jQuery('#mainNavMenu').append(response); }); }); </script> </body> </html>

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MAGNI Dynamics: A Vision-Based Kinematic and Dynamic Upper-Limb Model for Intelligent Robotic Rehabilitation