Design of a haptic arm exoskeleton for training and rehabilitation (original) (raw)
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Haptics is a complement to visual and auditory perception for a more complete experience of being in an environment, be it real, remote, or virtual. Haptic interface allows users to interact with the environment through touch or manipulation. Many of these devices have been built in the recent years. This paper reviews the design requirements of a haptic device in pursuit of a haptic interface that provides a more realistic sensation to the user. Two popular haptic devices: the PHANToM and the DELTA haptic devices are discussed.
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Design and validation of a complete haptic system for manipulativetasks
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The present work deals with the design, implementation and assessment of a new haptic system specifically conceived for manipulative tasks in virtual environments. Such a system was designed by taking into account specific issues related to fine manipulation, such as multipoint haptics, coherence, transparency and physical representation. The haptic system described herein is integrated with a virtual environment engine for the simulation of multifinger manipulation. A preliminary evaluation of the system was conducted by comparing human performance in the manipulation of virtual objects with respect to real objects, according to the data available in the literature. The experiments confirm how the most relevant relationships among physiological and physical parameters involved in manipulation are also preserved during virtual manipulation. However, an indepth analysis of the results shows that simulation parameters affect the level of force control during virtual manipulation and the quality of the perceived force feedback.
Haptic Virtual Rehabilitation Exercises for Poststroke Diagnosis
IEEE Transactions on Instrumentation and Measurement, 2000
Nowadays, stroke is one of the most frequent causes of severe adult disability in the world. Virtual Reality (VR) and haptic technologies have emerged as promising assistive tools for effective diagnosis and rehabilitation intervention. The objective of this study is to develop and test a set of five virtual exercises on top of a framework, which is designed for diagnosis and rehabilitation of patients with hand impairments. We have implemented task-oriented exercises based on well established and common exercises, namely the Jebsen Test of Hand Function (JTHF) and the Box and Block Test (BBT). These include: moving a cup, arranging blocks, navigating a maze, training with a dumbbell, and grasping a rubber ball. Furthermore, key performance measures (metrics) are proposed for each exercise to quantitatively evaluate and judge performance of stroke patients. Our evaluation of these exercises shows promising potential to define a ‗golden' reference metrics for healthy subjects, against which the performance of a patient is compared. This will facilitate the ability of Occupational Therapists (OTs) to assess the patient's progress. Index Terms -Virtual reality, haptic applications, stroke rehabilitation, occupational therapy, medical instrumentation and measurement Atif Alamri received his Master's degree in Information Systems from King Saud University in 2004. He is currently a PhD candidate at the School of Information Technology and Engineering, University of Ottawa, Ottawa, Canada. His current research interests include Collaborative Rehabilitations, Haptic Enabled Applications, Service Oriented Architecture, and web services composition." Mohamad Eid received his Master's degree in Electrical and Computer Engineering from the American University of Beirut in February 2005. He is currently a PhD student at the School of Information Technology and Engineering, University of Ottawa, Ottawa, Canada. His research interests include Haptic applications meta-language, Haptics for interpersonal communication, and Haptic video conferencing.