title: Development of a system based on 3D vision, interactive virtual environments, ergonometric signals and a humanoid for stroke rehabilitation.
abstract: This paper presents a stroke rehabilitation (SR) system for the upper limbs, developed as an interactive virtual environment (IVE) based on a commercial 3D vision system (a Microsoft Kinect), a humanoid robot (an Aldebaran's Nao), and devices producing ergonometric signals. In one environment, the rehabilitation routines, developed by specialists, are presented to the patient simultaneously by the humanoid and an avatar inside the IVE. The patient follows the rehabilitation task, while his avatar copies his gestures that are captured by the Kinect 3D vision system. The information of the patient movements, together with the signals obtained from the ergonometric measurement devices, is used also to supervise and to evaluate the rehabilitation progress. The IVE can also present an RGB image of the patient. In another environment, that uses the same base elements, four game routines--Touch the balls 1 and 2, Simon says, and Follow the point--are used for rehabilitation. These environments are designed to create a positive influence in the rehabilitation process, reduce costs, and engage the patient.
authors.affiliation: Automatic Control Department, Cinvestav, Instituto Politécnico Nacional 2508, Col San Pedro Zacatenco, México 07360, Mexico. Electronic address: jibarra@cinvestav.mx.
authors.forename: Juan Manuel
authors.initials: JM
authors.lastname: Ibarra Zannatha
authors.forename: Alejandro Justo Malo
authors.initials: AJ
authors.lastname: Tamayo
authors.forename: Angel David Gómez
authors.initials: AD
authors.lastname: Sánchez
authors.forename: Jorge Enrique Lavín
authors.initials: JE
authors.lastname: Delgado
authors.forename: Luis Eduardo Rodríguez
authors.initials: LE
authors.lastname: Cheu
authors.forename: Wilson Alexander Sierra
authors.initials: WA
authors.lastname: Arévalo
mesh_terms: D001132:Arm / Q000503:physiopathology; D001696:Biomechanical Phenomena; D004576:Electromyography; D006804:Ergonomics; D006801:Humans; D008328:Man-Machine Systems; D012371:Robotics; D020521:Stroke / Q000503:physiopathology; D000071939:Stroke Rehabilitation; D014584:User-Computer Interface
keywords: Ergonometric signals; Humanoid robots; Interactive virtual environments; Stroke rehabilitation