Development of an upper limb exoskeleton digital twin in immersive virtual reality

Detalhes bibliográficos
Autor(a) principal: Lomba, Tiago Manuel Cortes
Data de Publicação: 2023
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10451/58780
Resumo: Tese de mestrado, Engenharia Biomédica e Biofísica, 2023, Universidade de Lisboa, Faculdade de Ciências
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spelling Development of an upper limb exoskeleton digital twin in immersive virtual realityAVCmembro superiorreabilitação robóticarealidade virtualgémeo digitalTeses de mestrado - 2023Departamento de FísicaTese de mestrado, Engenharia Biomédica e Biofísica, 2023, Universidade de Lisboa, Faculdade de CiênciasResearch suggests that for stroke patients, high-intensity training is critical for patient recovery. This can be provided by robotic rehabilitation in combination with virtual reality (VR), enabling highly intensive and motivating exercises. The more motivated the patients are, the more engaged they will be in performing the exercises, ultimately leading to better motor function improvement. However, in conventional therapy and most research, the robot is usually not visualized, which can lead to a discrepancy between what the user sees and feels. In this work, we present the development of a digital twin of an upper limb rehabilitation exoskeleton in VR. The user interacted with the virtual environment (VE) through a head-mounted display and manipulation of the real robot. To create a more functional and realistic interaction with the VE, the exoskeleton was previously upgraded with one more degree of freedom, by integrating a novel hand module, allowing the user to perform grasping movements. In addition, a prototype of a VR game aimed at the interaction between the digital twin and the VE was developed, as well as preliminary measurements of the kinematic accuracy of the digital twin and its kinematic model. When the user moved the rehabilitation robot, the digital twin was found to move accordingly, mimicking the movements of all joints. With only a small position offset, it can be concluded that despite the exoskeleton’s complexity, the implementation was successful, and this offset will probably not reduce the immersion or embodiment of the user. The developed visualization enables the possibility of studying the influence of digital twins on motor learning. Although future work is needed, namely adjusting the joints of the digital twin, and testing the visualization model on real patients, this study should be considered as a starting point to allow the development of more effective rehabilitation exercises.Matela, Nuno Miguel de Pinto Lobo e, 1978-Crespo, Laura MarchalRepositório da Universidade de LisboaLomba, Tiago Manuel Cortes2023-07-27T12:48:51Z202320232023-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10451/58780enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-08T17:07:44Zoai:repositorio.ul.pt:10451/58780Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T22:08:55.735229Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Development of an upper limb exoskeleton digital twin in immersive virtual reality
title Development of an upper limb exoskeleton digital twin in immersive virtual reality
spellingShingle Development of an upper limb exoskeleton digital twin in immersive virtual reality
Lomba, Tiago Manuel Cortes
AVC
membro superior
reabilitação robótica
realidade virtual
gémeo digital
Teses de mestrado - 2023
Departamento de Física
title_short Development of an upper limb exoskeleton digital twin in immersive virtual reality
title_full Development of an upper limb exoskeleton digital twin in immersive virtual reality
title_fullStr Development of an upper limb exoskeleton digital twin in immersive virtual reality
title_full_unstemmed Development of an upper limb exoskeleton digital twin in immersive virtual reality
title_sort Development of an upper limb exoskeleton digital twin in immersive virtual reality
author Lomba, Tiago Manuel Cortes
author_facet Lomba, Tiago Manuel Cortes
author_role author
dc.contributor.none.fl_str_mv Matela, Nuno Miguel de Pinto Lobo e, 1978-
Crespo, Laura Marchal
Repositório da Universidade de Lisboa
dc.contributor.author.fl_str_mv Lomba, Tiago Manuel Cortes
dc.subject.por.fl_str_mv AVC
membro superior
reabilitação robótica
realidade virtual
gémeo digital
Teses de mestrado - 2023
Departamento de Física
topic AVC
membro superior
reabilitação robótica
realidade virtual
gémeo digital
Teses de mestrado - 2023
Departamento de Física
description Tese de mestrado, Engenharia Biomédica e Biofísica, 2023, Universidade de Lisboa, Faculdade de Ciências
publishDate 2023
dc.date.none.fl_str_mv 2023-07-27T12:48:51Z
2023
2023
2023-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10451/58780
url http://hdl.handle.net/10451/58780
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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