Development of a Robot-Assisted Telerehabilitation System With Integrated IIoT and Digital Twin
Upper limb dysfunction (ULD) is common following a stroke, spinal cord injury, trauma, and occupational accidents. Post-stroke patients with ULD need long-term assistance from therapists for their rehabilitation, which generally occurs at the hospital or outpatient clinic. Physical therapists are un...
| Main Authors: | , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10172096/ |
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| author | Md. Mahafuzur Rahaman Khan Md. Samiul Haque Sunny Tanvir Ahmed Md. Tanzil Shahria Preet Parag Modi Md. Ishrak Islam Zarif Javier Dario Sanjuan De Caro Sheikh Iqbal Ahamed Helal Uddin Ahmed Erin M. Mcgonigle Ketchum Mohammad H. Rahman |
| author_facet | Md. Mahafuzur Rahaman Khan Md. Samiul Haque Sunny Tanvir Ahmed Md. Tanzil Shahria Preet Parag Modi Md. Ishrak Islam Zarif Javier Dario Sanjuan De Caro Sheikh Iqbal Ahamed Helal Uddin Ahmed Erin M. Mcgonigle Ketchum Mohammad H. Rahman |
| author_sort | Md. Mahafuzur Rahaman Khan |
| collection | DOAJ |
| description | Upper limb dysfunction (ULD) is common following a stroke, spinal cord injury, trauma, and occupational accidents. Post-stroke patients with ULD need long-term assistance from therapists for their rehabilitation, which generally occurs at the hospital or outpatient clinic. Physical therapists are unavailable because of geographical, financial, and scheduling concerns, and continuity of care needs to be improved due to the need to travel to multiple locations for therapy. As a result, providing specific, tailored therapy programs is challenging due to the absence of feedback and real-time monitoring. An effective telerehabilitation system can address this issue and is more cost-effective for healthcare providers and patients than traditional inpatient or person-to-person rehabilitation. Remotely operating robotic devices and using advanced technology improves patient and healthcare provider safety and reduces injuries. In this study, we developed a novel telerehabilitation framework for rehabilitation robots utilizing PTC’s Industrial Internet of Things (IIoT) platform to remotely provide robot-aided therapies for individuals with ULD. With the developed telerehabilitation framework, an operator can teleoperate the rehab robots to deliver Upper-limb (UL) exercises via an Augmented Reality (AR) based graphical user interface (GUI). This AR platform communicates bidirectionally using ThingWorx IIOT. It leverages the digital twin (DT) structure facilitated by Vuforia studio to visualize the physical robot motions happening in remote places. The telerehabilitation framework was validated through a commercially available robot (xArm 5), an exoskeleton (SREx), and an end-effector type rehabilitation robot (DMRbot) developed at Biorobotics Lab, UWM. The experiment results show that the telerehabilitation system can successfully provide UL rehab exercises in 2D and 3D planes via AR. The proposed framework is developed to facilitate robust and more promising robot-aided rehabilitation sessions remotely, and it can also be applied in other medical applications. |
| first_indexed | 2024-03-12T23:12:29Z |
| format | Article |
| id | doaj.art-6ad62125d29d4c448670ef02e3a43d14 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T23:12:29Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-6ad62125d29d4c448670ef02e3a43d142023-07-17T23:00:20ZengIEEEIEEE Access2169-35362023-01-0111701747018910.1109/ACCESS.2023.329180310172096Development of a Robot-Assisted Telerehabilitation System With Integrated IIoT and Digital TwinMd. Mahafuzur Rahaman Khan0https://orcid.org/0000-0003-3945-3405Md. Samiul Haque Sunny1https://orcid.org/0000-0002-6584-1877Tanvir Ahmed2Md. Tanzil Shahria3https://orcid.org/0000-0002-1797-3736Preet Parag Modi4https://orcid.org/0000-0002-7605-6479Md. Ishrak Islam Zarif5https://orcid.org/0000-0003-3491-0240Javier Dario Sanjuan De Caro6Sheikh Iqbal Ahamed7https://orcid.org/0000-0001-5385-7647Helal Uddin Ahmed8Erin M. Mcgonigle Ketchum9Mohammad H. Rahman10https://orcid.org/0000-0002-6370-8757Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI, USADepartment of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI, USADepartment of Biomedical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI, USADepartment of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI, USAMechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI, USADepartment of Computer Science, Marquette University, Milwaukee, WI, USAMechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI, USADepartment of Computer Science, Marquette University, Milwaukee, WI, USADepartment of Mechanical Engineering, Universidad del Norte, Barranquilla, ColombiaMedical College of Wisconsin, Milwaukee, WI, USAMechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI, USAUpper limb dysfunction (ULD) is common following a stroke, spinal cord injury, trauma, and occupational accidents. Post-stroke patients with ULD need long-term assistance from therapists for their rehabilitation, which generally occurs at the hospital or outpatient clinic. Physical therapists are unavailable because of geographical, financial, and scheduling concerns, and continuity of care needs to be improved due to the need to travel to multiple locations for therapy. As a result, providing specific, tailored therapy programs is challenging due to the absence of feedback and real-time monitoring. An effective telerehabilitation system can address this issue and is more cost-effective for healthcare providers and patients than traditional inpatient or person-to-person rehabilitation. Remotely operating robotic devices and using advanced technology improves patient and healthcare provider safety and reduces injuries. In this study, we developed a novel telerehabilitation framework for rehabilitation robots utilizing PTC’s Industrial Internet of Things (IIoT) platform to remotely provide robot-aided therapies for individuals with ULD. With the developed telerehabilitation framework, an operator can teleoperate the rehab robots to deliver Upper-limb (UL) exercises via an Augmented Reality (AR) based graphical user interface (GUI). This AR platform communicates bidirectionally using ThingWorx IIOT. It leverages the digital twin (DT) structure facilitated by Vuforia studio to visualize the physical robot motions happening in remote places. The telerehabilitation framework was validated through a commercially available robot (xArm 5), an exoskeleton (SREx), and an end-effector type rehabilitation robot (DMRbot) developed at Biorobotics Lab, UWM. The experiment results show that the telerehabilitation system can successfully provide UL rehab exercises in 2D and 3D planes via AR. The proposed framework is developed to facilitate robust and more promising robot-aided rehabilitation sessions remotely, and it can also be applied in other medical applications.https://ieeexplore.ieee.org/document/10172096/Upper limb dysfunctiontelerehabilitationdigital twinrobot-aided therapythe Industrial Internet of Things (IIoT)augmented reality |
| spellingShingle | Md. Mahafuzur Rahaman Khan Md. Samiul Haque Sunny Tanvir Ahmed Md. Tanzil Shahria Preet Parag Modi Md. Ishrak Islam Zarif Javier Dario Sanjuan De Caro Sheikh Iqbal Ahamed Helal Uddin Ahmed Erin M. Mcgonigle Ketchum Mohammad H. Rahman Development of a Robot-Assisted Telerehabilitation System With Integrated IIoT and Digital Twin IEEE Access Upper limb dysfunction telerehabilitation digital twin robot-aided therapy the Industrial Internet of Things (IIoT) augmented reality |
| title | Development of a Robot-Assisted Telerehabilitation System With Integrated IIoT and Digital Twin |
| title_full | Development of a Robot-Assisted Telerehabilitation System With Integrated IIoT and Digital Twin |
| title_fullStr | Development of a Robot-Assisted Telerehabilitation System With Integrated IIoT and Digital Twin |
| title_full_unstemmed | Development of a Robot-Assisted Telerehabilitation System With Integrated IIoT and Digital Twin |
| title_short | Development of a Robot-Assisted Telerehabilitation System With Integrated IIoT and Digital Twin |
| title_sort | development of a robot assisted telerehabilitation system with integrated iiot and digital twin |
| topic | Upper limb dysfunction telerehabilitation digital twin robot-aided therapy the Industrial Internet of Things (IIoT) augmented reality |
| url | https://ieeexplore.ieee.org/document/10172096/ |
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