Enhancing Wrist Telerehabilitation: Integrating Haptic Feedback and Remote Evaluation Models

Stroke patients with hemiparesis often face significant challenges in accessing consistent and effective rehabilitation therapy due to limitations in mobility and the availability of specialized care. To address this, anew telerehabilitation system is introduced for stroke patients with hemiparesis. It consists of two internet-connected robots for remote wrist rehabilitation. A cloud-based website serves as a centralized interface for patients and doctors, allowing remote control of the system during therapy sessions. To enhance the haptic feedback and stability of the system, a torque/velocity control algorithm isimplemented. These control algorithms incorporate damping and spring terms from an impedance control algorithm to synchronize and maintain the positions of both end effectors. Additionally, a wrist evaluation model has been introduced to calculate stiffness and damping coefficients, essential for monitoring patient progress and improving treatment efficacy. Thewrist model is evaluated using multiple linear regressionmethod. Experimental testing demonstrates the potential of the proposed approach in enhancing telerehabilitation system performance.

DDC Class

610: Medicine, Health

004: Computer Sciences

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publishedVersion

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https://creativecommons.org/licenses/by/4.0/

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10.1515_cdbme-2024-2001.pdf

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Main Article

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1.29 MB

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Enhancing Wrist Telerehabilitation: Integrating Haptic Feedback and Remote Evaluation Models