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Sensors 2016, 16(3), 395;

Fusion of Haptic and Gesture Sensors for Rehabilitation of Bimanual Coordination and Dexterous Manipulation

Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300353, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300353, China
Rehabilitation Center, Tianjin Hospital, Tianjin 300211, China
Author to whom correspondence should be addressed.
Academic Editor: Yajing Shen
Received: 1 January 2016 / Revised: 10 March 2016 / Accepted: 11 March 2016 / Published: 18 March 2016
(This article belongs to the Special Issue Sensors for Robots)
Full-Text   |   PDF [7118 KB, uploaded 18 March 2016]   |  


Disabilities after neural injury, such as stroke, bring tremendous burden to patients, families and society. Besides the conventional constrained-induced training with a paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fitting well with the fact that both arms are needed in common activities of daily living (ADLs), and can promote good functional recovery. In this work, the fusion of a gesture sensor and a haptic sensor with force feedback capabilities has enabled a bilateral rehabilitation training therapy. The Leap Motion gesture sensor detects the motion of the healthy hand, and the omega.7 device can detect and assist the paretic hand, according to the designed cooperative task paradigm, as much as needed, with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data facilitate instantaneous visual and audio feedback, as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm recruits the sensory, motor and cognitive aspects of the patient into one loop, encourages the active involvement of the patients into rehabilitation training, strengthens the cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy of use at home or centralized institutions and, thus, promises effective potentials for rehabilitation training. View Full-Text
Keywords: haptics; rehabilitation; bimanual coordination; dexterous manipulation; sensory-motor cognitive skills haptics; rehabilitation; bimanual coordination; dexterous manipulation; sensory-motor cognitive skills

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Yu, N.; Xu, C.; Li, H.; Wang, K.; Wang, L.; Liu, J. Fusion of Haptic and Gesture Sensors for Rehabilitation of Bimanual Coordination and Dexterous Manipulation. Sensors 2016, 16, 395.

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