Authors
University/Institution
Project Context
In recent years, there has been a growing demand for rehabilitation options that are both affordable and highly accurate. This need calls for innovative approaches, especially in treating vestibular system impairments, which are critical for balance and postural control.
This case study details how the mechanical precision offered by Acrome's Stewart Platform (Hexapod robot) was combined with immersive Virtual Reality (VR) technology, leading to a paradigm shift in vestibular rehabilitation applications. This project is led by the innovative team at the Faculty of Medicine, UMF Iasi, Romania.
The Solution: Mechatronic-eXtended Reality Integration
This research paper centers on the integration of the Acrome Stewart Platform (an enhanced version of the educational platform) with the Oculus Meta Quest 2 VR headset. This technical synergy transforms complex mechatronic expertise into a sophisticated virtual representation, creating an immersive and synchronous experience for rehabilitation.
Stewart Platform's Sea Wave Simulation Capability
The foundation of the project lies in the Stewart Platform's capability for six degrees of freedom (linear displacements along x, y, and z axes, as well as roll, pitch, and yaw rotations). This feature ensures that the realistic movements of sea waves and vessel dynamics can be accurately simulated.
Virtual Rehabilitation Application
The VR application, developed in the Unity ecosystem, presents a scenario where a raft navigates an ocean, affected by waves of varying magnitudes and velocities.
- Synchronous Experience: The movements experienced in the virtual scenario are physically replicated by the Stewart platform, ensuring congruent haptic feedback in tandem with visual and auditory inputs.
- Sea Wave Simulation: The application determines the inverse kinematics required for the Stewart platform based on real-time raft coordinates derived from wave physics computations in Unity. The wave simulation utilized a mesh of vectors and triangles, with vector heights adjusting based on the Perlin Noise function for realistic oscillation and direction.
- Standalone Operation: The control application, compiled into an APK and installed directly on the HMD_VR (Meta Quest 2), operates on the Android OS. This negates the need for external computational resources, allowing the VR glasses to run the application independently and send movement data directly to the platform via Bluetooth.
Outcomes and Future Work
This mechatronic and VR integration embodies the Health4.0 vision, signifying a shift towards patient-oriented, technologically-mediated therapeutic strategies.
- High-Potential Rehabilitation: The system offers an immersive experience, potentially enhancing patient engagement and motivation, with preliminary data suggesting its potential to sustain vestibular therapy.
- Accessibility and Cost-Effectiveness: This innovative system has the potential to democratize access to advanced rehabilitation systems, making them accessible to a broader spectrum of patients.
- Data Collection and Personalization: The system’s robust data collection capability offers clinicians the opportunity to monitor and comprehend patient progression in real-time, allowing for a feedback loop to tailor the therapeutic approach to each patient's unique needs.
This integration proves that the Acrome Stewart Platform is not merely an educational tool, but a versatile and flexible robotic solution that provides tangible benefits in the field of complex medical simulations and rehabilitation.
