Development of IoT-based robot for wrist rehabilitation

摘要

A robotic solution based on the internet of things (IoT) for home wrist rehabilitation is developed. The proposed architecture allows remote control by gesture. The movement of the wrist performed by the physiotherapist is detected by a Kinect camera before being communicated to the developed human-machine interface (HMI). The Kinect image is processed and the calculated angle is used as a desired angle for the implemented controller. The computed torque is sent to the robot via an MQTT protocol. The range of motion (RoM) performed is measured and sent via the network to the HMI. The results obtained are recorded in real-time in a database ensuring traceability and a digital medical record. The experimental results obtained show the efficiency of the developed system.