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Technical Briefs

Experimental Evaluation of Shared Control for Rehabilitation of Fine Motor Skills

[+] Author and Article Information
Govindarajan Srimathveeravalli

Virtual Reality Laboratory, State University of New York, Buffalo, NY 14216gks2@eng.buffalo.edu

Venkatraghavan Gourishankar

Virtual Reality Laboratory, State University of New York, Buffalo, NY 14216vg26@eng.buffalo.edu

Amrish Kumar

Virtual Reality Laboratory, State University of New York, Buffalo, NY 14216ak65@eng.buffalo.edu

Thenkurussi Kesavadas

Virtual Reality Laboratory, State University of New York, Buffalo, NY 14216kesh@eng.buffalo.edu

J. Comput. Inf. Sci. Eng 9(1), 014503 (Mar 03, 2009) (8 pages) doi:10.1115/1.3086031 History: Received September 30, 2007; Revised December 26, 2008; Published March 03, 2009

We present the experimental results contrasting virtual fixtures (VFs) with a new shared control (SC) technique for rehabilitation of fine motor skills. The SC assistance algorithm used haptic attributes as the control goal. VF provided assistance based on trajectory. Shapes were chosen from the Visual Motor Integration test book and were used to train candidate’s nondominant hand, using samples recorded from their dominant hand. The results were analyzed using time, trajectory, forces, shape of trajectory, and haptic profiles as metrics. The results indicate that performance of VF and SC were comparable for simple trajectories and SC performed better for complex trajectories.

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Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 8

Trajectory shape match, Levels 1–3 (left to right) (Y axis, % match)

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Figure 9

Haptic profile shape match, Levels 1–3 (left to right) (Y axis, % match)

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Figure 6

Absolute position error, Levels 1–3 (left to right) (Y axis, rms position error in mm)

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Figure 7

Absolute force error, Levels 1–3 (left to right) (Y axis, rms force error in mN)

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Figure 5

Plots for absolute time error, Levels 1–3 (Y axis, average error in mm)

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Figure 3

Block schematic for SC

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Figure 4

Levels and corresponding objects chosen from VMI test (a). Typical data obtained from experimental procedure, recall data ((b) right), and training data ((b) left., The dashed line represents template from dominant hand, and the traces are from non dominant hand.

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Figure 1

Participant working on the WYSISWYF writing simulator (left). Sample writing (right).

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Figure 2

Concept of VF as implemented for the study

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