Tele-Snap: a joint impedance estimation system using snap motor and openPose for remote rehabilitation diagnosis
Tele-Snap: a joint impedance estimation system using snap motor and openPose for remote rehabilitation diagnosis
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DOI：
10.1080/01691864.2023.2197968
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发表时间：
2023-04
影响因子：
2
通讯作者：
Yuki Endo;Keisuke Yagi;Y. Mori;T. Takei;H. Mochiyama
中科院分区：
文献类型：
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作者：
Yuki Endo;Keisuke Yagi;Y. Mori;T. Takei;H. Mochiyama
我们提出了一个远程联合阻抗估计系统，称为Tele-Snap，用于新冠肺炎大流行下的康复诊断。人体关节的动态阻力是反映运动功能的基本物理信息。抵抗力是根据医生(物理治疗师)的触觉进行评估的，但大流行限制了这种面对面的方式。我们提出的系统旨在为远程康复环境中的诊断提供由关节阻抗量化的物理信息。该系统采用了称为Snap电机的紧凑型脉冲扰动发生器和名为OpenPose的无标记运动捕获技术。然后，安装在患者位置的子系统得到了显著简化，它由可穿戴的Snap马达和带有内置摄像头模块的树莓PI组成。该系统可以通过检查者通过虚拟专用网络遥操作Snap电机和摄像头来采集用于阻抗估计的数据集，而不需要患者进行手术。我们通过面对面的实验验证了所提出的系统，然后演示了远程阻抗估计方案。图形摘要
We propose a remote joint impedance estimation system called Tele-snap for a rehabilitation diagnosis under the COVID-19 pandemic. Dynamic resistance of the human joint is essential physical information reflecting the motor function. The resistance is assessed based on the touching sensation of the doctor (physiotherapist), but the pandemic restricts such an in-person manner. Our proposing system aims to provide this physical information quantified by the joint impedance for a diagnosis in the telerehabilitation context. The proposed system employs a compact impulsive perturbation generator called the snap motor and a marker-less motion capture technology called the OpenPose. The subsystem installed in the patient's place is then simplified remarkably, which consists of the wearable snap motor and Raspberry Pi with a built-in camera module. The proposed system can collect the dataset for impedance estimation through the examiner's teleoperation of the snap motor and camera via a virtual private network, with no need for the operation by the patient. We verify the proposed system through an in-person experiment and then demonstrate the remote impedance estimation scheme. GRAPHICAL ABSTRACT