MOTORE: A mobile haptic interface for neuro-rehabilitation

The present paper introduces a novel type of haptic interface which is fully portable and employs only onboard sensors and electronics to solve accurate localization and force feedback generation. The device offers 2DOF force control while sliding on a plane and maintaining its orientation comfortable for the user. The device generates force feedback information without any intermediate link between the motion wheels and the grasping handle. The device has been designed for application in neuro-rehabilitation protocols and it adopts specific mechanical, electrical and control solutions in order to cope with patient requirements. The paper describes the mechanical and electronic solutions as well as the most relevant features of control implementation issues that were addressed in the system design.

[1]  Greg Welch,et al.  An Introduction to Kalman Filter , 1995, SIGGRAPH 2001.

[2]  Domenico Prattichizzo,et al.  An Experimental Study of the Limitations of Mobile Haptic Interfaces , 2004, ISER.

[3]  Uwe D. Hanebeck,et al.  Design issues of mobile haptic interfaces , 2003, J. Field Robotics.

[4]  Jiping He,et al.  Design and Control of RUPERT: A Device for Robotic Upper Extremity Repetitive Therapy , 2007, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[5]  Leopoldo Armesto,et al.  SLAM based on Kalman filter for multi-rate fusion of laser and encoder measurements , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[6]  Constantinos Mavroidis,et al.  Smart portable rehabilitation devices , 2005, Journal of NeuroEngineering and Rehabilitation.

[7]  Hermano Igo Krebs,et al.  MIT-MANUS: a workstation for manual therapy and training. I , 1992, [1992] Proceedings IEEE International Workshop on Robot and Human Communication.

[8]  François G. Pin,et al.  A new family of omnidirectional and holonomic wheeled platforms for mobile robots , 1994, IEEE Trans. Robotics Autom..

[9]  C. Mavroidis,et al.  MR_CHIROD v.2: Magnetic Resonance Compatible Smart Hand Rehabilitation Device for Brain Imaging , 2008, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[10]  N. Hogan,et al.  Robot-aided neurorehabilitation. , 1998, IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[11]  Darren Leigh,et al.  Haptic pen: a tactile feedback stylus for touch screens , 2004, UIST '04.

[12]  J. Jim Zhu,et al.  Omni-directional mobile robot controller based on trajectory linearization , 2008, Robotics Auton. Syst..

[13]  Jeffrey K. Uhlmann,et al.  Unscented filtering and nonlinear estimation , 2004, Proceedings of the IEEE.

[14]  Massimo Bergamasco,et al.  A virtual environment with haptic feedback for the treatment of motor dexterity disabilities , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[15]  Massimo Satler,et al.  Control of a desktop mobile haptic interface , 2011, 2011 IEEE World Haptics Conference.

[16]  Paolo Gallina,et al.  Dynamic model with slip for wheeled omnidirectional robots , 2002, IEEE Trans. Robotics Autom..

[17]  Antonio Frisoli,et al.  Bimanual Haptic-desktop platform for upper-limb post-stroke rehabilitation: Practical trials , 2009, 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[18]  Antonio Frisoli,et al.  Robotic assisted rehabilitation in Virtual Reality with the L-EXOS. , 2009, Studies in health technology and informatics.

[19]  Sunglok Choi,et al.  Nonlinear Slip Dynamics for an Omniwheel Mobile Robot Platform , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[20]  John T. McConville,et al.  INVESTIGATION OF INERTIAL PROPERTIES OF THE HUMAN BODY , 1975 .

[21]  E. Catmull,et al.  A CLASS OF LOCAL INTERPOLATING SPLINES , 1974 .