Development of a Dynamic Oriented Rehabilitative Integrated System (DORIS) and Preliminary Tests
<p>Mechanical design of the platform. Details A and B show the cardan joints that attached each leg with the two platforms. Detail C shows the amplified load cell mounted on each leg.</p> "> Figure 2
<p>The system functional architecture of DORIS. The right dashed box includes all the main modules which use ROS (Robotic Operating System) as middleware. These subsystems exchange different kind of messages, whose main conveyed information is concisely reported over the arrows.</p> "> Figure 3
<p>Platform geometric scheme with frame assignments and connecting points. The frame {B} is the reference frame assigned to the base plate, while the frame {M} is attached to the moving plate.</p> "> Figure 4
<p>The Graphical User Interface (GUI) implemented with the ROS RVIZ interface. At all times, the state of the Stewart platform, with its reaction forces and the center of pressure (COP), can be visualized and monitored on this GUI.</p> "> Figure 5
<p>The software architecture of DORIS. The hardware (HW), software (SW) and network layers are sketched (separated by blue dashed lines). Each solid box represents a different subsystem or software layer. Each stack (dashed box) represents a different software module with its stratification.</p> "> Figure 6
<p>Cartesian coordinates of the connecting points of the mobile plate m<sub>i</sub> (one color each point) while it is elevating from the floor up to 200 mm (first test). (<b>a</b>) Data captured by the cameras system. (<b>b</b>) Platform data.</p> "> Figure 7
<p>Cartesian coordinates of the connecting points of the mobile plate m<sub>i</sub> (one color each point) while the roll angle follows a sinusoidal time law. (<b>a</b>) Data captured by the cameras system. (<b>b</b>) Data reproduced by the simulation algorithm.</p> "> Figure 8
<p>RMSE between <math display="inline"><semantics> <mrow> <mi>C</mi> <mi>O</mi> <msub> <mi>P</mi> <mrow> <mi>C</mi> <mi>a</mi> <mi>l</mi> <mi>i</mi> <mi>b</mi> </mrow> </msub> <mo> </mo> </mrow> </semantics></math></p> "> Figure 9
<p>Stability test. Each bar is the component X and Y of the <math display="inline"><semantics> <mrow> <mi>C</mi> <mi>O</mi> <msub> <mi>P</mi> <mrow> <mi>C</mi> <mi>a</mi> <mi>l</mi> <mi>i</mi> <mi>b</mi> </mrow> </msub> </mrow> </semantics></math> computed at time intervals of 1 minute.</p> ">
Abstract
:1. Introduction
2. Materials and Methods
2.1. Description of the Robotic Platform
2.2. System Architecture
- •
- The Data/Control server, which is in charge of (i) collecting, routing and recording all the main data flowing in the system, (ii) controlling the Stewart platform and (iii) visualizing and monitor the state of the Stewart platform.
- •
- The Stewart Platform, which has been presented in the previous section.
- •
- The Unreal Engine server, which hosts Unreal Engine 4, the adopted game engine. This is responsible for generating the realistic VR game experiences which are used for assessing the neuro-rehabilitation patients’ capabilities and extrapolate relevant performance measures.
- •
- The VR devices, i.e., the control interfaces used for the VR game experiences. These consist of a VR headset (an Oculus Rift S headset) and a Leap motion module (used for detecting and tracking hand gestures).
- •
- The Vicon system, which is composed of a set of 12 cameras and variously deployed markers used to perform accurate motion capture of patients’ and system assets.
- •
- The Electromyography (EMG) system, used for measuring and recording the electrical activity produced by the skeletal muscles of the patients.
- •
- The Vicon/EMG server, which is in charge of (i) collecting, synchronizing and processing all the signals and data coming from both the Vicon system and the EMG system, and (ii) make all the processed sensory data available to the other DORIS subsystems.
2.3. Inverse Kinematic
2.4. Force-Torque and Center of Pressure Sensor
3. Architecture Details
3.1. System Modules and Data Flow
3.2. Sofware Design
- •
- The CNC module (programmed both in Visual Basic and C), which is hosted in the Stewart platform firmware.
- •
- The Pxcomm communication library (programmed in C/C++), which allows the communication with the CNC module through the TCP/IP protocol. Specifically, this library has been designed to allow the integration of the Stewart platform with other systems.
4. Results
4.1. Movement Assessment of the Platform
4.2. Center of Pressure Measurement Assessment
5. Discussion
6. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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Electro-Mechanical Cylinder System—EMC-050NN-2 | |
---|---|
Max. stroke | 400 mm |
Lead constant | 20 mm/U |
Max travel speed | 1.27 m/s |
Max acceleration | 50 m/s2 |
Max drive torque | 8.2 Nm |
Gear reduction | 1 |
Connecting Point | X (mm) | Y (mm) | Z (mm) |
---|---|---|---|
m1 | 0.7 ± 0.008 | 0.7 ± 0.005 | 1.6 ± 0.01 |
m2 | 0.7 ± 0.006 | 0.8 ± 0.007 | 1.9 ± 0.01 |
m3 | 0.7 ± 0.007 | 0.3 ± 0.003 | 2.1 ± 0.02 |
m4 | 0.4 ± 0.005 | 0.6 ± 0.006 | 1.6 ± 0.01 |
m5 | 1.5 ± 0.01 | 2.2 ± 0.02 | 1.5 ± 0.01 |
m6 | 2.4 ± 0.02 | 1.2 ± 0.03 | 2.3 ± 0.02 |
Connecting Points | X (mm) | Y (mm) | Z (mm) |
---|---|---|---|
m1 | 0.8 ± 0.02 | 1.1 ± 0.02 | 0.6 ± 0.01 |
m2 | 0.7 ± 0.01 | 1.1 ± 0.02 | 0.5 ± 0.009 |
m3 | 0.9 ± 0.02 | 1.0 ± 0.01 | 2.9 ± 0.05 |
m4 | 0.9 ± 0.02 | 0.9 ± 0.01 | 2.4 ± 0.04 |
m5 | 1.1 ± 0.02 | 1.7 ± 0.03 | 2.4 ± 0.04 |
m6 | 1.3 ± 0.03 | 1.7 ± 0.04 | 3.1 ± 0.05 |
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Summa, S.; Gori, R.; Freda, L.; Castelli, E.; Petrarca, M. Development of a Dynamic Oriented Rehabilitative Integrated System (DORIS) and Preliminary Tests. Sensors 2019, 19, 3402. https://doi.org/10.3390/s19153402
Summa S, Gori R, Freda L, Castelli E, Petrarca M. Development of a Dynamic Oriented Rehabilitative Integrated System (DORIS) and Preliminary Tests. Sensors. 2019; 19(15):3402. https://doi.org/10.3390/s19153402
Chicago/Turabian StyleSumma, Susanna, Riccardo Gori, Luigi Freda, Enrico Castelli, and Maurizio Petrarca. 2019. "Development of a Dynamic Oriented Rehabilitative Integrated System (DORIS) and Preliminary Tests" Sensors 19, no. 15: 3402. https://doi.org/10.3390/s19153402
APA StyleSumma, S., Gori, R., Freda, L., Castelli, E., & Petrarca, M. (2019). Development of a Dynamic Oriented Rehabilitative Integrated System (DORIS) and Preliminary Tests. Sensors, 19(15), 3402. https://doi.org/10.3390/s19153402