Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments

Detalhes bibliográficos
Ano de defesa: 2020
Autor(a) principal: Consoni, Leonardo José
Orientador(a): Não Informado pela instituição
Banca de defesa: Não Informado pela instituição
Tipo de documento: Tese
Tipo de acesso: Acesso aberto
Idioma: eng
Instituição de defesa: Biblioteca Digitais de Teses e Dissertações da USP
Programa de Pós-Graduação: Não Informado pela instituição
Departamento: Não Informado pela instituição
País: Não Informado pela instituição
Palavras-chave em Português:
Link de acesso: https://www.teses.usp.br/teses/disponiveis/18/18149/tde-01062020-111015/
Resumo: Over the last decades, the worldwide increase in cases of neuromotor health issues motivated a growing research interest in improving rehabilitation processes using robots. The performed studies opened the possibility to include auxiliary technologies in physical and occupational therapy, like virtual reality and remote interaction between patients and therapists. The so called telerehabilitation, in particular, offers potential extension of ever shortening periods of clinical treatment via home care. Combination of that technology with computational games allow patients to feel more motivated by exercising with friends, relatives, or even other patients. Although there are veried and potential benefits from application of those techniques, there are related challenges: instabilities due to lag in distant interaction, variation of users\' bodily characteristics and discrepancy between the skill level of participants in a joint activity. There are also still few attempts towards tooling and methodology standardization, which could lead to faster developments in the field.This work develops a computational platform for studies of Robotic Telerehabilitation with Serious Games, while proposing on the basis of the available literature a new unified approach to deal with the main open issues identified. The tested hypothesis states that the same set of variables can parameterize the optimization of 3 interconnected subsystems: automatic assistance for single patients, difficulty balancing in multi-user activities, and stability and transparency control in bi- or multilateral remote operation. Therefore, by constantly recalculating the patient\'s mechanical parameters, it is speculated that the system can dynamically adapt on those 3 levels of operation, improving its performance. A previous literature review narrows down the requirements, available solutions and difficulties still present for the implementation of such system, in particular for the most critical aspect of teleoperation. Performed simulations and experimental tests are described and executed, comparing more established approaches to new proposed strategies. In the end, obtained results reveal a partial success in enabling better motor interaction between users, indicating a way forward, and considerations about necessary further investigations and future work are made.
id USP_3fcfe0820fbb711154e6100d36ae0eba
oai_identifier_str oai:teses.usp.br:tde-01062020-111015
network_acronym_str USP
network_name_str Biblioteca Digital de Teses e Dissertações da USP
repository_id_str
spelling Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environmentsControle de passividade adaptativo para realce de transparência háptica de telerreabilitação robótica multilateral em ambientes de realidade virtualInternetBilateralBilateralControlControleInternetJogos SériosMultijogadorMultiplayerPassividadePassivityReabilitaçãoRealidade virtualRehabilitationRobóticaRoboticsSerious GamesTeleoperaçãoTeleoperationTelerehabilitationTelerreabilitaçãoTransparênciaTransparencyVirtual realityOver the last decades, the worldwide increase in cases of neuromotor health issues motivated a growing research interest in improving rehabilitation processes using robots. The performed studies opened the possibility to include auxiliary technologies in physical and occupational therapy, like virtual reality and remote interaction between patients and therapists. The so called telerehabilitation, in particular, offers potential extension of ever shortening periods of clinical treatment via home care. Combination of that technology with computational games allow patients to feel more motivated by exercising with friends, relatives, or even other patients. Although there are veried and potential benefits from application of those techniques, there are related challenges: instabilities due to lag in distant interaction, variation of users\' bodily characteristics and discrepancy between the skill level of participants in a joint activity. There are also still few attempts towards tooling and methodology standardization, which could lead to faster developments in the field.This work develops a computational platform for studies of Robotic Telerehabilitation with Serious Games, while proposing on the basis of the available literature a new unified approach to deal with the main open issues identified. The tested hypothesis states that the same set of variables can parameterize the optimization of 3 interconnected subsystems: automatic assistance for single patients, difficulty balancing in multi-user activities, and stability and transparency control in bi- or multilateral remote operation. Therefore, by constantly recalculating the patient\'s mechanical parameters, it is speculated that the system can dynamically adapt on those 3 levels of operation, improving its performance. A previous literature review narrows down the requirements, available solutions and difficulties still present for the implementation of such system, in particular for the most critical aspect of teleoperation. Performed simulations and experimental tests are described and executed, comparing more established approaches to new proposed strategies. In the end, obtained results reveal a partial success in enabling better motor interaction between users, indicating a way forward, and considerations about necessary further investigations and future work are made.Nas últimas décadas, o aumento global nos casos de problemas de saúde neuromotores motivou um interesse crescente na pesquisa sobre melhoria de processos de reabilitação utilizando robôs. Os estudos realizados abriram possibilidade para a inclusão de tecnologias auxiliares na terapia física e ocupacional, como realidade virtual e interação remota entre pacientes e terapeutas. A chamada telerreabilitação, em particular, oferece o potencial de estender tratamentos, cada vez mais breves em unidades especializadas, por meio de atendimento domiciliar. A combinação da tecnologia com jogos computacionais permite que pacientes se sintam mais motivados ao treinar na companhia de amigos, familiares, ou até outros pacientes. Apesar dos benefícios verificados ou potenciais da aplicação dessas técnicas, existem desafios relacionados: instabilidades decorrentes do atraso na interação à distância, variação das características corporais de usuários e discrepância entre o nível de habilidade de participantes de uma atividade conjunta. Além disso, há poucas iniciativas no sentido de padronizar ferramentas e metodologias para sua implementação e teste, o que poderia catalisar os avanços na área. Este trabalho desenvolve uma plataforma computacional para estudo de Telerreabilitação Robótica com suporte a utilização de Jogos Sérios, enquanto propõe com base na literatura disponível uma nova abordagem unificada para lidar com os principais desafios em aberto identificados. É testada a hipótese de que um mesmo conjunto de variáveis pode parametrizar a otimização de 3 subsistemas interligados: assistência automática para pacientes singulares, balanceamento de dificuldade em atividades multiusuário, e controle de estabilidade e transparência em operação remota bi ou multilateral. Ao se realizar o constante recálculo dos parâmetros mecânicos do paciente, portanto, especula-se que o sistema pode se adaptar dinamicamente nos 3 níveis de operação, melhorando seu desempenho. Uma revisão bibliográfica prévia define os requisitos, soluções disponíveis e dificuldades ainda presentes para a implementação de tal sistema, em especial para o aspecto mais crítico da teleoperação. Testes experimentais e simulações realizados são descritos e executados, comparando abordagens já estabelecidas com as estratégias propostas. Ao fim, os resultados obtidos revelam um sucesso parcial em habilitar uma melhor interação motora entre usuários, indicando um caminho para avanço, e considerações sobre investigações necessárias e trabalhos futuros são feitas.Biblioteca Digitais de Teses e Dissertações da USPSiqueira, Adriano Almeida GonçalvesConsoni, Leonardo José2020-04-14info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisapplication/pdfhttps://www.teses.usp.br/teses/disponiveis/18/18149/tde-01062020-111015/reponame:Biblioteca Digital de Teses e Dissertações da USPinstname:Universidade de São Paulo (USP)instacron:USPLiberar o conteúdo para acesso público.info:eu-repo/semantics/openAccesseng2021-06-18T21:21:02Zoai:teses.usp.br:tde-01062020-111015Biblioteca Digital de Teses e Dissertaçõeshttp://www.teses.usp.br/PUBhttp://www.teses.usp.br/cgi-bin/mtd2br.plvirginia@if.usp.br|| atendimento@aguia.usp.br||virginia@if.usp.bropendoar:27212021-06-18T21:21:02Biblioteca Digital de Teses e Dissertações da USP - Universidade de São Paulo (USP)false
dc.title.none.fl_str_mv Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments
Controle de passividade adaptativo para realce de transparência háptica de telerreabilitação robótica multilateral em ambientes de realidade virtual
title Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments
spellingShingle Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments
Consoni, Leonardo José
Internet
Bilateral
Bilateral
Control
Controle
Internet
Jogos Sérios
Multijogador
Multiplayer
Passividade
Passivity
Reabilitação
Realidade virtual
Rehabilitation
Robótica
Robotics
Serious Games
Teleoperação
Teleoperation
Telerehabilitation
Telerreabilitação
Transparência
Transparency
Virtual reality
title_short Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments
title_full Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments
title_fullStr Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments
title_full_unstemmed Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments
title_sort Adaptive passivity control for haptic transparency enhancement of multilateral robotic telerehabilitation in virtual reality environments
author Consoni, Leonardo José
author_facet Consoni, Leonardo José
author_role author
dc.contributor.none.fl_str_mv Siqueira, Adriano Almeida Gonçalves
dc.contributor.author.fl_str_mv Consoni, Leonardo José
dc.subject.por.fl_str_mv Internet
Bilateral
Bilateral
Control
Controle
Internet
Jogos Sérios
Multijogador
Multiplayer
Passividade
Passivity
Reabilitação
Realidade virtual
Rehabilitation
Robótica
Robotics
Serious Games
Teleoperação
Teleoperation
Telerehabilitation
Telerreabilitação
Transparência
Transparency
Virtual reality
topic Internet
Bilateral
Bilateral
Control
Controle
Internet
Jogos Sérios
Multijogador
Multiplayer
Passividade
Passivity
Reabilitação
Realidade virtual
Rehabilitation
Robótica
Robotics
Serious Games
Teleoperação
Teleoperation
Telerehabilitation
Telerreabilitação
Transparência
Transparency
Virtual reality
description Over the last decades, the worldwide increase in cases of neuromotor health issues motivated a growing research interest in improving rehabilitation processes using robots. The performed studies opened the possibility to include auxiliary technologies in physical and occupational therapy, like virtual reality and remote interaction between patients and therapists. The so called telerehabilitation, in particular, offers potential extension of ever shortening periods of clinical treatment via home care. Combination of that technology with computational games allow patients to feel more motivated by exercising with friends, relatives, or even other patients. Although there are veried and potential benefits from application of those techniques, there are related challenges: instabilities due to lag in distant interaction, variation of users\' bodily characteristics and discrepancy between the skill level of participants in a joint activity. There are also still few attempts towards tooling and methodology standardization, which could lead to faster developments in the field.This work develops a computational platform for studies of Robotic Telerehabilitation with Serious Games, while proposing on the basis of the available literature a new unified approach to deal with the main open issues identified. The tested hypothesis states that the same set of variables can parameterize the optimization of 3 interconnected subsystems: automatic assistance for single patients, difficulty balancing in multi-user activities, and stability and transparency control in bi- or multilateral remote operation. Therefore, by constantly recalculating the patient\'s mechanical parameters, it is speculated that the system can dynamically adapt on those 3 levels of operation, improving its performance. A previous literature review narrows down the requirements, available solutions and difficulties still present for the implementation of such system, in particular for the most critical aspect of teleoperation. Performed simulations and experimental tests are described and executed, comparing more established approaches to new proposed strategies. In the end, obtained results reveal a partial success in enabling better motor interaction between users, indicating a way forward, and considerations about necessary further investigations and future work are made.
publishDate 2020
dc.date.none.fl_str_mv 2020-04-14
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/doctoralThesis
format doctoralThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://www.teses.usp.br/teses/disponiveis/18/18149/tde-01062020-111015/
url https://www.teses.usp.br/teses/disponiveis/18/18149/tde-01062020-111015/
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv
dc.rights.driver.fl_str_mv Liberar o conteúdo para acesso público.
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Liberar o conteúdo para acesso público.
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.coverage.none.fl_str_mv
dc.publisher.none.fl_str_mv Biblioteca Digitais de Teses e Dissertações da USP
publisher.none.fl_str_mv Biblioteca Digitais de Teses e Dissertações da USP
dc.source.none.fl_str_mv
reponame:Biblioteca Digital de Teses e Dissertações da USP
instname:Universidade de São Paulo (USP)
instacron:USP
instname_str Universidade de São Paulo (USP)
instacron_str USP
institution USP
reponame_str Biblioteca Digital de Teses e Dissertações da USP
collection Biblioteca Digital de Teses e Dissertações da USP
repository.name.fl_str_mv Biblioteca Digital de Teses e Dissertações da USP - Universidade de São Paulo (USP)
repository.mail.fl_str_mv virginia@if.usp.br|| atendimento@aguia.usp.br||virginia@if.usp.br
_version_ 1809091303472889856