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Open AccessArticle

HUSP: A Smart Haptic Probe for Reliable Training in Musculoskeletal Evaluation Using Motion Sensors

Department of Computer Science and Automation, University of Salamanca, 37008 Salamanca, Spain
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2019, 19(1), 101;
Received: 23 November 2018 / Revised: 21 December 2018 / Accepted: 23 December 2018 / Published: 29 December 2018
(This article belongs to the Special Issue Sensor Technologies for Caring People with Disabilities)
As a consequence of the huge development of IMU (Inertial Measurement Unit) sensors based on MEMS (Micro-Electromechanical Systems), innovative applications related to the analysis of human motion are now possible. In this paper, we present one of these applications: a portable platform for training in Ultrasound Imaging-based musculoskeletal (MSK) exploration in rehabilitation settings. Ultrasound Imaging (USI) in the diagnostic and treatment of MSK pathologies offers various advantages, but it is a strongly operator-dependent technique, so training and experience become of fundamental relevance for rehabilitation specialists. The key element of our platform is a replica of a real transducer (HUSP—Haptic US Probe), equipped with MEMS based IMU sensors, an embedded computing board to calculate its 3D orientation and a mouse board to obtain its relative position in the 2D plane. The sensor fusion algorithm used to resolve in real-time the 3D orientation (roll, pitch and yaw angles) of the probe from accelerometer, gyroscope and magnetometer data will be presented. Thanks to the results obtained, the integration of the probe into the learning platform allows a haptic sensation to be recreated in the rehabilitation trainee, with an attractive performance/cost ratio. View Full-Text
Keywords: IMU sensors; haptic devices; USI based diagnostic IMU sensors; haptic devices; USI based diagnostic
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Moreno, V.; Curto, B.; Garcia-Esteban, J.A.; Hernández Zaballos, F.; Alonso Hernández, P.; Serrano, F.J. HUSP: A Smart Haptic Probe for Reliable Training in Musculoskeletal Evaluation Using Motion Sensors. Sensors 2019, 19, 101.

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