A multi-sensor, cable-driven parallel manipulator based lower limb rehabilitation device : design and analysis

Mandar Harshe 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : Gait analysis and human joint motion measurement has been studied extensively in the recent past. In order to address the effects of soft tissue artifacts (STA), a common source of error in most type of measurements, the standard procedure in gait analysis has been to use a combination of measurement methods for efficient estimation of joint angles and the body segment poses. This work proposes a gait analysis system based on a multi-sensor cable-driven parallel manipulator, focusing specifically on tracking the human knee. Our system assumes a human joint to be a general 6 DOF joint between 2 body segments. In order to measure pose of these body segments, up to 14 wires are attached to these human body segments and this permits the system to treat each of these body segments as the end-effector of a parallel mechanism. The pose of the body segments can thus be determined by measuring the wire lengths and solving the forward kinematics of this parallel architecture. The system is also equipped to use additional sensors including inertial sensors (accelerometers and gyroscopes), a 12 camera optical tracking system, in-shoe pressure sensors, variable length resistive wires, IR distance sensors, force sensors to measure muscle contraction. A number of choices are available in the approach for analyzing the knee during gait activity and the design of the setup depends on these choices. This work discuses the options available and details how they have impacted the choices we make in developing the experimental setup. We discuss the hardware developed and used, and specifically discuss the flexible collar used to attach wires to the patient body and to hold the additional sensors. We treat the collar as a serial kinematic chain and propose a calibration method for it that, unlike commonly used calibration techniques, avoids using joint angle measurements. We then outline the experiment and the methods used to synchronize and fuse the data from all sensors to obtain a pose estimate for the collar and thus, the body segments. Finally, this work helps identify steps necessary to improve the current setup and lays the groundwork for a complete rehabilitation system.
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Mandar Harshe. A multi-sensor, cable-driven parallel manipulator based lower limb rehabilitation device : design and analysis. Other [cs.OH]. Ecole Nationale Supérieure des Mines de Paris, 2012. English. ⟨NNT : 2012ENMP0102⟩. ⟨pastel-00933732⟩

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