Haptic Trajectories for Assisting Patients during Rehabilitation of Upper Extremities

ABSTRACTIn this paper, we present a pilot study of a haptic system that leads the patients' limb to follow trajectories performed on a plane or in space (2D or 3D haptic trajectories). This function is implemented by the Multimodal Guidance System (MGS) whose aim is to provide robotic assistance during the rehabilitation of upper extremities when patients perform 2D and 3D tasks during manual activities such as drawing, coloring and gaming. The MGS consists of a virtual environment including several technologies as haptic, sound and video gaming. The patients are able to feel virtual objects and haptic trajectories, which act as virtual guides taking advantages of its force feedback capabilities. A virtual environment is used forming a haptic interface between the patient and the game. The haptic device is driven under the user's movements and assisted through the Magnetic Geometry Effect (MGE). Several 2D and 3D haptic trajectories have been tested in order to analyze the use interaction with the MGS. Pr...

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