A therapeutic robotic system for the upper body based on the Proficio robotic arm

摘要

Robotic-assisted technology has given the researchers new opportunities to augment traditional physical rehabilitation with technologically advanced devices. The goal is to leverage robotic technology to improve the efficacy of physical therapy and expedite the recovery period of patients. Robotic systems can take on an important role in physical therapy - assisting, guiding, and motivating patients to do their prescribed physical exercises correctly. In this work, we present a comprehensive physical therapy system using the Proficio robotic arm. Our system interprets the 3D kinetic and kinematic properties of a person's movement with the Proficio arm, evaluates the performance of the person, and recommends adjustment to the difficulty level of the exercise. The Proficio can be also used to enhance user training by moving their arm according to the required exercise. Our system has a graphical interface so that users can view their own task performance during the exercise. In addition, we propose a Microsoft Kinect-based system to complement our design. This system analyzes the trajectory of the user during an exercise, and performs evaluations regarding the posture and movement of the body. The proposed system also enables the therapist to remotely monitor the daily exercise of a person in real time so that he or she can give feedback and motivation.