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Virtual Reality-Based Framework to Simulate Control Algorithms for Robotic Assistance and Rehabilitation Tasks

Jessica S Ortiz1, Guillermo Palacios-Navarro1, Víctor H Andaluz2

  • 1Department of Electronic Engineering and Communications, University of Zaragoza, 44003 Teruel, Spain.

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|August 10, 2021
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Summary

This study introduces a virtual reality (VR) framework for simulating robotic assistance and rehabilitation tasks. It enables control algorithm testing for standing wheelchairs, overcoming the need for physical hardware.

Keywords:
control algorithmsdynamic modelkinematic modelrehabilitationrobotic assistancestanding wheelchairvirtual reality

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Area of Science:

  • Robotics
  • Rehabilitation Engineering
  • Virtual Reality

Background:

  • Robotic assistance and rehabilitation for motor disabilities are growing fields.
  • Practical implementation requires access to physical robotic systems, which can be a limitation.

Purpose of the Study:

  • To develop an interactive virtual reality (VR) framework for simulating rehabilitation and robotic assistance tasks.
  • To enable the testing of control algorithms for a robotic standing wheelchair without physical hardware.

Main Methods:

  • Development of a VR-based simulation framework.
  • Inclusion of kinematic and dynamic models for a human-wheelchair system with a displaced center of mass.
  • Implementation of autonomous control schemes using Full Simulation (FS) and Hardware in the Loop (HIL) techniques.

Main Results:

  • The virtual environment accurately models the standing human-wheelchair system dynamics.
  • Control algorithms for robotic assistance and rehabilitation were successfully implemented and tested within the VR framework.
  • Demonstrated the performance of virtual control schemes through various experiments.

Conclusions:

  • The developed VR framework provides a viable solution for simulating and testing robotic assistance and rehabilitation control algorithms.
  • This approach overcomes the limitations of physical hardware availability, facilitating research and development in the field.
  • The simulation framework is effective for evaluating control strategies for standing wheelchairs in diverse user scenarios.