Development of a robotic system with an augmented reality interface for rehabilitation of brain inju

1
Development of a robotic system with an augmented
reality interface for rehabilitation of brain
injured individuals

• James L. Patton, Ph.D.
• Robotics Lab, Sensory Motor Performance Program
  (SMPP), Rehabilitation Institute of Chicago
  Northwestern University

Robert Kenyon, Ph.D. Electronics Visualization
Lab, Computer Science, University of Illinois
at Chicago
2
(No Transcript)
3
A. Unperturbed baseline
(Stroke Subject sa38)
4
Design Needs

• Strong
• Safe
• Large workspace
• 3D
• Back-drivable (negligible resistance)
• 3-D display that could preserve reality

5
Project Objectives

• Develop a virtual reality system for robotic
  augmented reality
• Use a panel for planning development of a
  library of therapy programs.
• Artificially degrade performance performance of
  the system to determine design parameters for the
  next generation
• Evaluate the therapeutic capabilities of the
  system on stroke survivors.

6
Augmented and Immersed
Photo Courtesy of Microvision Incorporated.
Dolinsky, Greunz, Orrego, Ali (1999)
7
Personal Augmented Reality Immersive
System(PARISTM) Johnson, Sandin, Dawe, Qiu,
Thongrong, Plepys, D (2000)EVL at UIC
8
Tele-Immersion Display DevicesNext-Generation
Displays
PARIS Personal Augmented Reality Immersive
System Enables users to see their hands correctly
merged with a VR image.
9
Cross-Section of PARIS
10
Visual Force Feedback Aid User
11
Project Objectives

• Develop a virtual reality system for robotic
  augmented reality
• Use a panel for planning development of a
  library of therapy programs.
• Artificially degrade performance performance of
  the system to determine design parameters for the
  next generation
• Evaluate the therapeutic capabilities of the
  system on stroke survivors.

v

• Acquired assembled components of PARIS.
• Implemented basic software that demonstrates the
  capabilities of the machine as a rehabilitation
  tool.
• Transported the system to Rehabilitation
  Engineering Society of North America (RESNA)
  meeting for a hands-on display on the exhibit
  floor.
• Hired computer scientist to program PARIS.
• Designer Greg Dawe and has wrangled innovations
  in display technology to reduce costs by 34,000.

12
PARIS Hardware Specifications

• Screen 80" diagonal rigid high contrast (black)
• Projector Christie Mirage 2000
• Visual Resolution of 7 min arc per Pixel
• Mirror 60 reflective
• Vertical FOV adjustable /- 15
• Horizontal FOV at centerline 120 inclusive
• Tracking (Ethernet) Ascension pcBIRD or
  InterSense IS-900
• Stereo Alternate (sequential) field type decoded
  with actively switched eyewear
• Refresh rate 100Hz
• Dimensions 5'9"x 2'8"x 6'5" (packed) 5'9" x
  6'1"x 7'11" (deployed)

13
Real Animated Limbs Possible
14
(No Transcript)
15
(No Transcript)
16
Summary

• VR system im place and ready to be programmed.
• Variety of recent research shows its current and
  future impact on society.
• A powerful tool to explore higher level cognitive
  driven motor behavior.
• Software development is critical.
• We are searching for ways of reducing cost and
  commercializing.