ReRobApp: A modular and open-source software framework for robotic rehabilitation and human-robot interaction

Author(s)

Moreno, Jose Y. ; Escalante, Felix M. ; Boaventura, Thiago ; Terra, Marco H. ; Siqueira, Adriano A. G. ; IEEE

• Document type: Journal article
• Source: 2022 9TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2022); v. N/A, p. 6-pg., 2022-01-01.

Abstract

Physical therapy combined with robotic, electrical, and/or multimedia systems is a promising approach for the development of innovative, engaging, and more effective rehabilitation tasks. To foster the development of new rehabilitation strategies and protocols, we propose a fully-customizable and open-source software framework named ReRobApp for robotic rehabilitation and other human-robot interaction applications. ReRobApp allows, e.g., an easy integration of different robotic devices and sensors in the same rehabilitation task, and the development of control strategies based on an block programming intuitive architecture. To showcase the versatility of our proposed framework, we performed case studies using serious games, functional electrical stimulation, electromyography, and two different lower limb robotic devices for ankle rehabilitation in a single multiplayer task with different subjects. (AU)

• FAPESP's process: 13/14756-0 - Adaptive variable impedance applied to robotic rehabilitation of walking
• Grantee: Adriano Almeida Gonçalves Siqueira
• Support Opportunities: Regular Research Grants
• FAPESP's process: 19/05937-7 - Hybrid adaptive strategies for lower limb exoskeletons
• Grantee: Adriano Almeida Gonçalves Siqueira
• Support Opportunities: Regular Research Grants
• FAPESP's process: 22/06634-0 - Implementation of force and impedance control strategies for robots with legs and arms in physical interaction applications.
• Grantee: Felix Mauricio Escalante Ortega
• Support Opportunities: Scholarships in Brazil - Technical Training Program - Technical Training
• FAPESP's process: 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms
• Grantee: Thiago Boaventura Cunha
• Support Opportunities: Research Grants - Young Investigators Grants