Development of a wearable ZigBee sensor system for upper limb rehabilitation robotics
- Resource Type
- Conference
- Authors
- Cifuentes, Carlos; Braidot, Ariel; Rodriguez, Luis; Frisoli, Melisa; Santiago, Alfonso; Frizera, Anselmo
- Source
- 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on. :1989-1994 Jun, 2012
- Subject
- Bioengineering
Robotics and Control Systems
Signal Processing and Analysis
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Robot sensing systems
Zigbee
Grasping
Vectors
Educational institutions
Motion segmentation
Microcontrollers
- Language
- ISSN
- 2155-1774
2155-1782
This paper presents a new tool for assessment and therapy in post-stroke upper-limb rehabilitation and a new wireless sensor technology to enhance rehabilitation robotics based on the ZigBee network of wearable Inertial Measurement Units (IMU) and Surface Electromyography (sEMG) sensor nodes. These sensor nodes will allow the measurement of kinematic and electrical muscle activity of patients in continuous therapy motion over all body segments as a Body Sensor Network (BSN). The IMU Sensor design was based on a direction-cosine-matrix DCM. The system validation was achieved with an optical motion tracking system in which cameras and IMU sensors recorded upper limb positions simultaneously during a standard gesture of reaching and grasping. The comparison between elbow flexion-extension angle in reaching and grasping movements obtained from both techniques shows equivalence. The analysis of IMU data signals for several movements demonstrates high repeatability intra and inter-subjects.