Creating Discomfort Maps via Hand-held Human Feedback Interface for Robotic Shoulder Physiotherapy

J.G. Ravenberg, I. Belli*, J.M. Prendergast, A. Seth, L. Peternel

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

In this work, we propose a method of capturing the patient’s discomfort during robotic shoulder physiotherapy, creating "discomfort maps". These maps depict the personalized distribution of discomfort that each patient perceived across their shoulder range of motion, facilitating both robotic devices and human therapists to account for patient-specific characteristics during the therapeutic process. Our system enables a patient to communicate and map discomfort in space and time during movement via a handheld push-button device, while interacting with a robotic physical therapy device capable of moving the patient and estimating their pose. We validated our method through human factors experiments simulating shoulder physiotherapy sessions with 10 healthy participants. To avoid the risk of injury to the participants and to allow for ground truth map information, we emulate perceived discomfort via an auditory signal. Our experimental apparatus enabled participants to reconstruct synthetic discomfort maps, demonstrating the feasibility of automatically capturing and storing patient discomfort during robotic physiotherapy.
Original languageEnglish
Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
PublisherIEEE
Pages4664-4671
Number of pages8
ISBN (Electronic)979-8-3503-7770-5
DOIs
Publication statusPublished - 2024
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 - Abu Dhabi, United Arab Emirates
Duration: 14 Oct 202418 Oct 2024

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period14/10/2418/10/24

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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