Protective measure for robotics therapeutic massage based on electrocardiography and electrodermal activity monitor and feedback
Journal
49th International Symposium on Robotics, ISR 2017
Date Issued
2017
Author(s)
Liu Y.Y.
Abstract
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.
Subjects
Electrocardiography; Electrodes; Kalman filters; Physical therapy; Robots; Electrocardiogram signal; Electrodermal activity; Nerve activity; Output force; Protective measures; RR intervals; Safety issues; Stress levels; Robotics
Type
conference paper