Rätz, Raphael; Marchal-Crespo, Laura (10 July 2023). Physics Engine-Based Whole-Hand Haptic Rendering for Sensorimotor Neurorehabilitation. In: 2023 IEEE World Haptics Conference (WHC). 10-13 July 2023. 10.1109/WHC56415.2023.10224404
Full text not available from this repository. (Request a copy)Whole-hand haptic rendering could lead to more naturalistic and intuitive virtual hand-object interactions, which could be especially beneficial for applications such as sensorimotor robotic neurorehabilitation. However, the majority of previously proposed whole-hand haptic rendering algorithms rely on effortful custom implementations or are not suited for the grounded haptic devices often used in neurorehabilitation. Therefore, we suggest a framework for whole-hand haptic rendering based on a readily available physics engine. We employ a bilateral position-position teleoperation framework between a haptic rehabilitation device and a simulated hand avatar with added exercise-specific haptic rendering. Moreover, in consideration of the needs of neurological patients, we introduce an adaptive damping of the haptic device during hand-object interactions for increased stabilization of the patient’s limb. We present the first results of the feasibility of the proposed framework in a haptic rehabilitation exercise. In an ongoing clinical study, the practical application of the presented framework is currently investigated.
Item Type: |
Conference or Workshop Item (Paper) |
|---|---|
Division/Institute: |
10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Motor Learning and Neurorehabilitation 10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Gerontechnology and Rehabilitation |
Graduate School: |
Graduate School for Cellular and Biomedical Sciences (GCB) |
UniBE Contributor: |
Rätz, Raphael, Marchal Crespo, Laura |
Subjects: |
600 Technology > 610 Medicine & health 600 Technology > 620 Engineering |
ISSN: |
2835-9534 |
ISBN: |
979-8-3503-9993-6 |
Language: |
English |
Submitter: |
Raphael Rätz |
Date Deposited: |
20 Nov 2023 07:44 |
Last Modified: |
26 Nov 2023 02:26 |
Publisher DOI: |
10.1109/WHC56415.2023.10224404 |
URI: |
https://boris.unibe.ch/id/eprint/189144 |
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