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    A User Motion Data Acquisition and Processing Method for the Design of Rehabilitation Robot With Few Degrees-of-Freedom

    Source: Journal of Engineering and Science in Medical Diagnostics and Therapy:;2020:;volume( 003 ):;issue: 002
    Author:
    Chen, Peng
    ,
    Dong, De
    ,
    Lv, Hao
    ,
    Zhu, Liuxian
    DOI: 10.1115/1.4046320
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Mechanism with few degrees-of-freedom is an economical solution for rehabilitation robots because it does not need a complicated structure and control system. To provide motion data to design the robot with few degrees-of-freedom, a user motion data acquisition, and processing method on the mobile platform is proposed. The data from the monocular vision system have been used on the smartphone and the KCF algorithm to track the knee and hip joints motion. To increase the stability and the precision, the maker with texture is designed to carry out the tracking. Furthermore, the transformation from the image coordinate to the world coordinate is implemented by the cross-ratio invariant in the controlled tracking condition with fixed dimension makers. By this mean, the motion path in the image coordinate is converted to that in the world coordinate. With the low limb motion path that provides the input of the Fourier descriptor, the mechanical parameters of the robot with few degrees-of-freedom are calculated, and the 3D models of the mechanism are constructed. Finally, the prototype of the rehabilitation robot is established which can assist the users to stand from sitting posture, or work as a wheelchair with obstacle avoidance function by infrared and ultrasonic sensors.
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      A User Motion Data Acquisition and Processing Method for the Design of Rehabilitation Robot With Few Degrees-of-Freedom

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4273655
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    • Journal of Engineering and Science in Medical Diagnostics and Therapy

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    contributor authorChen, Peng
    contributor authorDong, De
    contributor authorLv, Hao
    contributor authorZhu, Liuxian
    date accessioned2022-02-04T14:26:13Z
    date available2022-02-04T14:26:13Z
    date copyright2020/03/06/
    date issued2020
    identifier issn2572-7958
    identifier otherjesmdt_003_02_021104.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4273655
    description abstractMechanism with few degrees-of-freedom is an economical solution for rehabilitation robots because it does not need a complicated structure and control system. To provide motion data to design the robot with few degrees-of-freedom, a user motion data acquisition, and processing method on the mobile platform is proposed. The data from the monocular vision system have been used on the smartphone and the KCF algorithm to track the knee and hip joints motion. To increase the stability and the precision, the maker with texture is designed to carry out the tracking. Furthermore, the transformation from the image coordinate to the world coordinate is implemented by the cross-ratio invariant in the controlled tracking condition with fixed dimension makers. By this mean, the motion path in the image coordinate is converted to that in the world coordinate. With the low limb motion path that provides the input of the Fourier descriptor, the mechanical parameters of the robot with few degrees-of-freedom are calculated, and the 3D models of the mechanism are constructed. Finally, the prototype of the rehabilitation robot is established which can assist the users to stand from sitting posture, or work as a wheelchair with obstacle avoidance function by infrared and ultrasonic sensors.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA User Motion Data Acquisition and Processing Method for the Design of Rehabilitation Robot With Few Degrees-of-Freedom
    typeJournal Paper
    journal volume3
    journal issue2
    journal titleJournal of Engineering and Science in Medical Diagnostics and Therapy
    identifier doi10.1115/1.4046320
    page21104
    treeJournal of Engineering and Science in Medical Diagnostics and Therapy:;2020:;volume( 003 ):;issue: 002
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian