A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation

Zhijiang Du; Yixuan Sun; Yanyu Su; Wei Dong

doi:10.1109/PIC.2014.6972347

A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation

Zhijiang Du
, Yixuan Sun
, Yanyu Su
, Wei Dong

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Scopus citations

Abstract

Virtual Reality (VR) presents a promising future in the field of rehabilitation due to its advantages brought to the training process as is indicated in many articles and researches. In this paper, we describe a novel method in developing a virtual training environment for a 5 degrees of freedom (DOF) upper limb rehabilitation robot which has been designed to help provide assistance for patients who survive stroke but remain hemiplegic to complete rehabilitation exercise. The method involved utilizes ROS (Robot Operating System) and Gazebo (a multi-robot simulator) to set up an interesting virtual scene of daily life in a 3D world to facilitate the patients to move their affected arms with synchronous visual feedback and interact with the virtual training task. The control method of human model in the virtual world and the communication mechanism between the host machine which controls movement of the real robot and the master machine which runs the VR will be introduced. Finally, a virtual training environment containing reaching task set in a modern kitchen is presented.

Original language	English
Title of host publication	PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing
Editors	Yinglin Wang, Xuelong Li, Hongming Cai
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	307-311
Number of pages	5
ISBN (Electronic)	9781479920334
DOIs	https://doi.org/10.1109/PIC.2014.6972347
State	Published - 2 Dec 2014
Event	2014 2nd IEEE International Conference on Progress in Informatics and Computing, PIC 2014 - Shanghai, China Duration: 16 May 2014 → 18 May 2014

Publication series

Name	PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing

Conference

Conference	2014 2nd IEEE International Conference on Progress in Informatics and Computing, PIC 2014
Country/Territory	China
City	Shanghai
Period	16/05/14 → 18/05/14

Keywords

ROS/Gazebo
robot
upper limb rehabilitation
virtual reality (VR)

Access to Document

10.1109/PIC.2014.6972347

Cite this

Du, Z., Sun, Y., Su, Y., & Dong, W. (2014). A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation. In Y. Wang, X. Li, & H. Cai (Eds.), PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing (pp. 307-311). Article 6972347 (PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PIC.2014.6972347

Du, Zhijiang ; Sun, Yixuan ; Su, Yanyu et al. / A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation. PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing. editor / Yinglin Wang ; Xuelong Li ; Hongming Cai. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 307-311 (PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing).

@inproceedings{3c92f5d27ae64beeb14e32197e3c6b39,

title = "A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation",

abstract = "Virtual Reality (VR) presents a promising future in the field of rehabilitation due to its advantages brought to the training process as is indicated in many articles and researches. In this paper, we describe a novel method in developing a virtual training environment for a 5 degrees of freedom (DOF) upper limb rehabilitation robot which has been designed to help provide assistance for patients who survive stroke but remain hemiplegic to complete rehabilitation exercise. The method involved utilizes ROS (Robot Operating System) and Gazebo (a multi-robot simulator) to set up an interesting virtual scene of daily life in a 3D world to facilitate the patients to move their affected arms with synchronous visual feedback and interact with the virtual training task. The control method of human model in the virtual world and the communication mechanism between the host machine which controls movement of the real robot and the master machine which runs the VR will be introduced. Finally, a virtual training environment containing reaching task set in a modern kitchen is presented.",

keywords = "ROS/Gazebo, robot, upper limb rehabilitation, virtual reality (VR)",

author = "Zhijiang Du and Yixuan Sun and Yanyu Su and Wei Dong",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 2nd IEEE International Conference on Progress in Informatics and Computing, PIC 2014 ; Conference date: 16-05-2014 Through 18-05-2014",

year = "2014",

month = dec,

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doi = "10.1109/PIC.2014.6972347",

language = "英语",

series = "PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Du, Z, Sun, Y, Su, Y & Dong, W 2014, A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation. in Y Wang, X Li & H Cai (eds), PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing., 6972347, PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing, Institute of Electrical and Electronics Engineers Inc., pp. 307-311, 2014 2nd IEEE International Conference on Progress in Informatics and Computing, PIC 2014, Shanghai, China, 16/05/14. https://doi.org/10.1109/PIC.2014.6972347

A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation. / Du, Zhijiang; Sun, Yixuan; Su, Yanyu et al.
PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing. ed. / Yinglin Wang; Xuelong Li; Hongming Cai. Institute of Electrical and Electronics Engineers Inc., 2014. p. 307-311 6972347 (PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation

AU - Du, Zhijiang

AU - Sun, Yixuan

AU - Su, Yanyu

AU - Dong, Wei

PY - 2014/12/2

Y1 - 2014/12/2

N2 - Virtual Reality (VR) presents a promising future in the field of rehabilitation due to its advantages brought to the training process as is indicated in many articles and researches. In this paper, we describe a novel method in developing a virtual training environment for a 5 degrees of freedom (DOF) upper limb rehabilitation robot which has been designed to help provide assistance for patients who survive stroke but remain hemiplegic to complete rehabilitation exercise. The method involved utilizes ROS (Robot Operating System) and Gazebo (a multi-robot simulator) to set up an interesting virtual scene of daily life in a 3D world to facilitate the patients to move their affected arms with synchronous visual feedback and interact with the virtual training task. The control method of human model in the virtual world and the communication mechanism between the host machine which controls movement of the real robot and the master machine which runs the VR will be introduced. Finally, a virtual training environment containing reaching task set in a modern kitchen is presented.

AB - Virtual Reality (VR) presents a promising future in the field of rehabilitation due to its advantages brought to the training process as is indicated in many articles and researches. In this paper, we describe a novel method in developing a virtual training environment for a 5 degrees of freedom (DOF) upper limb rehabilitation robot which has been designed to help provide assistance for patients who survive stroke but remain hemiplegic to complete rehabilitation exercise. The method involved utilizes ROS (Robot Operating System) and Gazebo (a multi-robot simulator) to set up an interesting virtual scene of daily life in a 3D world to facilitate the patients to move their affected arms with synchronous visual feedback and interact with the virtual training task. The control method of human model in the virtual world and the communication mechanism between the host machine which controls movement of the real robot and the master machine which runs the VR will be introduced. Finally, a virtual training environment containing reaching task set in a modern kitchen is presented.

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KW - virtual reality (VR)

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BT - PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing

A2 - Wang, Yinglin

A2 - Li, Xuelong

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PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 16 May 2014 through 18 May 2014

ER -

Du Z, Sun Y, Su Y, Dong W. A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation. In Wang Y, Li X, Cai H, editors, PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing. Institute of Electrical and Electronics Engineers Inc. 2014. p. 307-311. 6972347. (PIC 2014 - Proceedings of 2014 IEEE International Conference on Progress in Informatics and Computing). doi: 10.1109/PIC.2014.6972347

A ROS/Gazebo based method in developing virtual training scene for upper limb rehabilitation

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