Inertia sensor-based guidance system for upperlimb posture correction Ding, Z. Q., Luo, Z. Q., Causo, A., Chen, I. M., Yue, K. X., Yeo, S. H., & Ling, K. V. Medical Engineering & Physics 35 (2013) 269– 276 Presenter ： Cheng-Bang Shih Advisor: Dr. Yi-Chun Du Chairman: Shih-Jhong Chen Date:2015/10/21 1

生醫系統整合實驗室 Integrated Biomedical System Laboratory Introduction Materials and methods Results Conclusion Outline 2

生醫系統整合實驗室 Integrated Biomedical System Laboratory Introduction 3

生醫系統整合實驗室 Integrated Biomedical System Laboratory Demand on the healthcare system rises in proportion to the aging population. Technology can fill in the supply gap by providing automated systems to augment healthcare services. For rehabilitation, the small inertia-based sensors could help improve healthcare delivery. Medical resources 4

生醫系統整合實驗室 Integrated Biomedical System Laboratory Sensing user movement may not be sufficient. Feedback from therapists also plays an important role in informing patients of their progress leading to better chances of recovery. The optimized design combination of inertia sensors and vibrotactile feedback to correct arm posture is the main contribution of this paper. Contribution 5

生醫系統整合實驗室 Integrated Biomedical System Laboratory TraditionOriginal Picture Medical methods Physical Therapy, Handwheel Kinapsys Contentmotor learning motor learning, extrinsic feedback 6 Rehabilitation

生醫系統整合實驗室 Integrated Biomedical System Laboratory Materials and methods 7

生醫系統整合實驗室 Integrated Biomedical System Laboratory Operating Procedures 8

生醫系統整合實驗室 Integrated Biomedical System Laboratory Inertial measurement unit (IMU)  Accelerometers  Gyroscopes  Magnetometers The advent of Technology 9 www5.epsondevice.com

生醫系統整合實驗室 Integrated Biomedical System Laboratory The advent of Technology 10 Vibrotactile  Small vibrating motors  DC power, With a 1.6V driving voltage  Tactor is a pancake pager motor

X Ref Y Ref Z Ref System calibration of IMU

生醫系統整合實驗室 Integrated Biomedical System Laboratory Correction Formula 12 Initialization Motion

生醫系統整合實驗室 Integrated Biomedical System Laboratory Calculation 3D space location 13 Elbow Wrist

生醫系統整合實驗室 Integrated Biomedical System Laboratory Postures used in the experiments

生醫系統整合實驗室 Integrated Biomedical System Laboratory Results 15

生醫系統整合實驗室 Integrated Biomedical System Laboratory 16 Feasibility of Vibrotactile Results of replicating Posture 1 by five students. Results of replicating Posture 2 by five students.

生醫系統整合實驗室 Integrated Biomedical System Laboratory PostureCorrection time (s) ± ± ± ± ± ± ± ± ± ± Postures that natural Average user correction time for the ten postures.

生醫系統整合實驗室 Integrated Biomedical System Laboratory 18 Comparative Trajectory Trajectory of Postures 1 and 9.

生醫系統整合實驗室 Integrated Biomedical System Laboratory Conclusion 19

生醫系統整合實驗室 Integrated Biomedical System Laboratory IMU calculates the instant 3D space location. Immediate feedback of Vibrotactile. Data will be saved every time for future reference. It can be apply on telemedicine in the future. 20 Conclusion

生醫系統整合實驗室 Integrated Biomedical System Laboratory 21

生醫系統整合實驗室 Integrated Biomedical System Laboratory 22 Thank You For Your Attention