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刘 晓, 李 思, 梁 铁, 李 俊, 娄 存, 王 洪, 刘 秀. [ Follow control of upper limb rehabilitation training based on Kinect and NAO robot]. Sheng Wu Yi Xue Gong Cheng Xue Za Zhi 2022; 39:1189-1198. [PMID: 36575089 PMCID: PMC9927177 DOI: 10.7507/1001-5515.202111009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Subscribe] [Scholar Register] [Received: 11/03/2021] [Revised: 10/29/2022] [Indexed: 12/29/2022]
Abstract
Gesture imitation is a common rehabilitation strategy in limb rehabilitation training. In traditional rehabilitation training, patients need to complete training actions under the guidance of rehabilitation physicians. However, due to the limited resources of the hospital, it cannot meet the training and guidance needs of all patients. In this paper, we proposed a following control method based on Kinect and NAO robot for the gesture imitation task in rehabilitation training. The method realized the joint angles mapping from Kinect coordination to NAO robot coordination through inverse kinematics algorithm. Aiming at the deflection angle estimation problem of the elbow joint, a virtual space plane was constructed and realized the accurate estimation of deflection angle. Finally, a comparative experiment for deflection angle of the elbow joint angle was conducted. The experimental results showed that the root mean square error of the angle estimation value of this method in right elbow transverse deflection and vertical deflection directions was 2.734° and 2.159°, respectively. It demonstrates that the method can follow the human movement in real time and stably using the NAO robot to show the rehabilitation training program for patients.
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Affiliation(s)
- 晓光 刘
- 河北大学 电子信息工程学院 生物医学工程系(河北保定 071002)College of Electronic and Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China
- 河北大学 河北省数字医疗工程重点实验室(河北保定 071002)Key Laboratory of Digital Medical Engineering of Hebei Province, Baoding, Hebei 071002, P. R. China
| | - 思敏 李
- 河北大学 电子信息工程学院 生物医学工程系(河北保定 071002)College of Electronic and Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China
- 河北大学 河北省数字医疗工程重点实验室(河北保定 071002)Key Laboratory of Digital Medical Engineering of Hebei Province, Baoding, Hebei 071002, P. R. China
| | - 铁 梁
- 河北大学 电子信息工程学院 生物医学工程系(河北保定 071002)College of Electronic and Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China
- 河北大学 河北省数字医疗工程重点实验室(河北保定 071002)Key Laboratory of Digital Medical Engineering of Hebei Province, Baoding, Hebei 071002, P. R. China
| | - 俊 李
- 河北大学 电子信息工程学院 生物医学工程系(河北保定 071002)College of Electronic and Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China
- 河北大学 河北省数字医疗工程重点实验室(河北保定 071002)Key Laboratory of Digital Medical Engineering of Hebei Province, Baoding, Hebei 071002, P. R. China
| | - 存广 娄
- 河北大学 电子信息工程学院 生物医学工程系(河北保定 071002)College of Electronic and Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China
- 河北大学 河北省数字医疗工程重点实验室(河北保定 071002)Key Laboratory of Digital Medical Engineering of Hebei Province, Baoding, Hebei 071002, P. R. China
| | - 洪瑞 王
- 河北大学 电子信息工程学院 生物医学工程系(河北保定 071002)College of Electronic and Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China
- 河北大学 河北省数字医疗工程重点实验室(河北保定 071002)Key Laboratory of Digital Medical Engineering of Hebei Province, Baoding, Hebei 071002, P. R. China
| | - 秀玲 刘
- 河北大学 电子信息工程学院 生物医学工程系(河北保定 071002)College of Electronic and Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China
- 河北大学 河北省数字医疗工程重点实验室(河北保定 071002)Key Laboratory of Digital Medical Engineering of Hebei Province, Baoding, Hebei 071002, P. R. China
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