https://scholars.lib.ntu.edu.tw/handle/123456789/581081
標題: | Protective measure for robotics therapeutic massage based on electrocardiography and electrodermal activity monitor and feedback | 作者: | Luo R.C Liu Y.Y. REN-CHYUAN LUO |
關鍵字: | Electrocardiography; Electrodes; Kalman filters; Physical therapy; Robots; Electrocardiogram signal; Electrodermal activity; Nerve activity; Output force; Protective measures; RR intervals; Safety issues; Stress levels; Robotics | 公開日期: | 2017 | 來源出版物: | 49th International Symposium on Robotics, ISR 2017 | 摘要: | This paper proposes a novel method to solve the safety issue of robotics therapeutic massage because it is often doubted by its rigid appearance. We add the feedback of electrodermal activity (EDA) and electrocardiogram (ECG) signal from the subject. An extended Kalman filter is utilized to extract the sudo motor nerve activity (SMNA) from EDA which has direct relation to the stress level of the subject. An on-line R-R interval detection is implemented for the HRV analysis. EDA and ECG both provide the stress and tenseness information. We take the advantage of these bio-signal that make the robot can know whether the subject feels nervous or tense and further more conjecture that the strength of the force is too much. When the robot detects an nervous event, the robot will adjust its strength and frequency of massage motion in real time. The experiment results show that the output force of the robot decreases after a nervous event is detected precisely. It makes the confidence of the safety of the massage robot increase surely. ? 49th International Symposium on Robotics, ISR 2017. All rights reserved. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85084160492&partnerID=40&md5=e76e54ec6b89efca9a5d860e72caf7a0 https://scholars.lib.ntu.edu.tw/handle/123456789/581081 |
顯示於: | 電機工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。