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 language | English |
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Title of host publication | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) |
Publisher | IEEE |
Pages | 4664-4671 |
Number of pages | 8 |
ISBN (Electronic) | 979-8-3503-7770-5 |
DOIs | |
Publication status | Published - 2024 |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 - Abu Dhabi, United Arab Emirates Duration: 14 Oct 2024 → 18 Oct 2024 |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 |
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Country/Territory | United Arab Emirates |
City | Abu Dhabi |
Period | 14/10/24 → 18/10/24 |
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-careOtherwise 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.