Consiglio Nazionale delle Ricerche

Tipo di prodottoArticolo in rivista
TitoloVision-Based Pose Estimation for Robot-Mediated Hand Telerehabilitation
Anno di pubblicazione2016
FormatoElettronico
Autore/iGiuseppe Airò Farulla, Daniele Pianu, Marco Cempini, Mario Cortese, Ludovico O. Russo, Marco Indaco, Roberto Nerino, Antonio Chimienti, Calogero M. Oddo, Nicola Vitiello
Affiliazioni autoriDepartment of Control and Computer Engineering, Politecnico di Torino; Institute of Electronics, Computer and Telecommunication Engineering, National Research Council; The BioRobotics Institute, Scuola Superiore Sant'Anna; The BioRobotics Institute, Scuola Superiore Sant'Anna; Department of Control and Computer Engineering, Politecnico di Torino; Department of Control and Computer Engineering, Politecnico di Torino; Institute of Electronics, Computer and Telecommunication Engineering, National Research Council; Institute of Electronics, Computer and Telecommunication Engineering, National Research Council; The BioRobotics Institute, Scuola Superiore Sant'Anna; The BioRobotics Institute, Scuola Superiore Sant'Anna
Autori CNR e affiliazioni
  • DANIELE PIANU
  • ROBERTO NERINO
  • ANTONIO CHIMIENTI
Lingua/e
  • inglese
AbstractVision-based Pose Estimation (VPE) represents a non-invasive solution to allow a smooth and natural interaction between a human user and a robotic system, without requiring complex calibration procedures. Moreover, VPE interfaces are gaining momentum as they are highly intuitive, such that they can be used from untrained personnel (e.g., a generic caregiver) even in delicate tasks as rehabilitation exercises. In this paper, we present a novel master-slave setup for hand telerehabilitation with an intuitive and simple interface for remote control of a wearable hand exoskeleton, named HX. While performing rehabilitative exercises, the master unit evaluates the 3D position of a human operator's hand joints in real-time using only a RGB-D camera, and commands remotely the slave exoskeleton. Within the slave unit, the exoskeleton replicates hand movements and an external grip sensor records interaction forces, that are fed back to the operator-therapist, allowing a direct real-time assessment of the rehabilitative task. Experimental data collected with an operator and six volunteers are provided to show the feasibility of the proposed system and its performances. The results demonstrate that, leveraging on our system, the operator was able to directly control volunteers' hands movements.
Lingua abstractinglese
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RivistaSensors (Basel)
Attiva dal 2001
Editore: Molecular Diversity Preservation International (MDPI), - Basel
Lingua: inglese
ISSN: 1424-8220
Titolo chiave: Sensors (Basel)
Titolo proprio: Sensors. (Basel)
Titolo abbreviato: Sensors (Basel)
Numero volume della rivista16
Fascicolo della rivista208
DOI10.3390/s16020208
Verificato da refereeSì: Internazionale
Stato della pubblicazionePublished version
Indicizzazione (in banche dati controllate)-
Parole chiavehand telerehabilitation; hand exoskeleton; motion tracking; upper limb rehabilitation
Link (URL, URI)http://www.mdpi.com/1424-8220/16/2/208
Titolo parallelo-
Data di accettazione29/01/2016
Note/Altre informazioni-
Strutture CNR
  • IEIIT — Istituto di elettronica e di ingegneria dell'informazione e delle telecomunicazioni
Moduli CNR-
Progetti Europei-
Allegati