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2017 - NAOMobby, Software Tool to Support Physical Rehabilitation Therapies for Upper Limbs using Mobile Robotics and Computer Vision
NAOMOBBY was developed to handle by therapists using a friendly GUI, a Kinect sensor and an interactive humanoid robot NAO to increase the patient willingness regarding the rehabilitation physical therapy.
NAOMOBBY includes the following modules: configuration/management, movement reproduction, and results report using GAS (Goal Attainment Scaling) methodology. NAOMOBBY was tested using quantitative and field tests. Quantitative tests measure the error in the Kinect sensor of the NAO robot joint motions to bring users a suitable feedback. Quantitative results were obtained using three basic functional motions.
Actually, NAOMobby is a registered software legally recognized by the Interior Ministry of Colombia. This document can be downloaded here.
The figure at left shows the NAOMOBBY conceptual diagram including: Its interaction with users, and the NAO robot.
In this figure, therapists can manage motions, goals and patients; therapists can perform the system configuration, as well as saving and showing results obtained in the physical therapy.
Also, therapists are able to play the pre-programmed robot motions, or performing a free motion session in order to get familiar with the software tool.
As observed in this figure, NAOMOBBY uses a SQL database to store all therapy information, and NAOMOBBY was conceived as a three module software namely: configuration and management, motion reproduction and results.
The figure at right shows the configuration and management module. Here, the NAOMOBBY GUI includes:
1. A tool bar (No. 1),
2. A status message showing the current user
3. The therapy goal (No. 2),
4. Three tabs corresponding to the modules as follows: configuration and management (No. 3), motion reproduction and therapy qualification (No. 4), and results (No. 5).
The tool bar in this figure allows therapist managing (create, modify, delete) patients, therapy goals and motions, enabling the free motion mode, and configuring NAO robot parameters such as: IP address, port number, motion speed, and amount of time between motions. The free motion mode is normally used to become familiar with NAOMOBBY. It shows in real time the user skeleton avatar, and any movement performed by the user is imitated by the NAO robot.
Then, the therapist selects the patient name, and therapy goal in case they exist. Otherwise, the therapist is able to create them. In addition, the therapist can modify the current information available for the patient and therapy goal. The right part of this figure shows the GUI with the current information of the therapy goal. This goal is described in the contexts of GAS methodology.
The figure at left shows the motion reproduction and therapy qualification module. In this module the therapist can do the following actions:
1. To select the motion to perform (No. 1),
2. To visualize an animated GIF of the movement (No. 2),
3. To reproduce the movement selected (No. 3),
4. To introduce a text to be reproduced by the NAO robot (No. 4, 5),
5. To select the date of the physical therapy (No. 6),
6. To select the qualification of the therapeutic goal (No. 7),
7. To save the therapeutic goal qualification (No. 8),
8. To qualify the physical therapy.
The physical therapy qualification is done using the GAS methodology. Normally, each therapy has various therapeutic goals. NAOMobby takes into account each qualification of each goal using GAS, and then it shows the results quantitatively.
At the end of any session of the physical therapy, therapists can observe the evolution of the therapy process by therapeutic goal in the results module.
In the figure at right, it can be observed the results module GUI. Here, therapists can do the following actions:
1. To select the therapeutic goal (No. 1),
2. To obtain a graph (No. 2) of the GAS results of equation (4) versus the session date.
In addition, therapist can perform the following operations on the graph results (No. 3-10): going forward and back, zooming, saving, changing the axis and graph properties.
At each moment the therapist qualifies a therapy, NAOMOBBY stores in the local database the new results for each therapeutic goal. The following video shows how NAOMobby is operated mimicking different upper limp motions :
This software was developed for industrial and service use. If you like to perform a field test, please contact me:
Prof. Bladimir Bacca Cortes Ph.D.
Address: Cra. 100, Street 13, Universidad del Valle, Melendez, Building 354, Office 2006.
Tel: +5723212100 Ext. 7656
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