Development of a Biomechatronic Device for Motion Analysis Through a RGB-D Camera

This work investigates the validity and reliability of a novel biomechatronic device providing an interactive environment in Augmented Reality (AR) for neuromotor rehabilitation. An RGB-depth camera and telemonitoring/remote alert module are the main components of the device, together with a PC-based interface. The interactive environment, which implements some optimized algorithms of body motion capture and novel methodologies for human body motion analysis, enables neuromotor rehabilitation treatments that are adaptable to the performance and individual characteristics of the patient. The RGB-Depth camera module is implemented through Microsoft Kinect, ORBBEC ZED2K devices; the telemonitoring module for teleassistance and therapy supervision is implemented as a cloud service. Within the module of body motion tracking, the abduction and adduction movements of the limbs of the full-body structure are tracked and the joints angles are measured in real-time; the most distinctive feature of the tracking module is the control of the trunk and shoulder posture during the exercises performed by the patient. Indeed, the device recognizes an incorrect position of the patient's body that could affect the objective of the exercise being performed. The recognition of an incorrect exercise is associated with the generation of an alert to both the patient and the physician to maximize the effectiveness of the treatment based on the user's potential and to increase the chances of getting better biofeedback. The experimental tests, which have been carried out by reproducing several neuromotor exercises within the interactive AR environment, show that the feature recognition and extraction, both of joints and segments of the musculoskeletal structure and wrong postures of the patient can achieve good performance in several experimental conditions. The developed device is a valid tool for patients affected by chronic disability, but it could be extended to neurodegenerative diseases in the early stages. Thanks to the enhanced interactivity in augmented reality (AR), the patient can overcome some difficulties during the interaction with the most common IT tools and technologies; also she/he can perform rehabilitation at home. The physician can also check the therapeutic results while customizing the care pathway in real-time. The enhanced interactivity, provided by the device during rehabilitation sessions, increases the patient’s motivation and the continuity of care, as well as supporting low-cost remote assistance and telemedicine which optimizes therapy costs. The key points of the developed devices are: 1. Making rehabilitation motivating the patient to become an active “player.” 2. Optimization of therapy effectiveness and costs. 3. The possibility of low-cost remote assistance and telemedicine.