Method for Improving Muscular Activations During Exoskeleton-Aided Therapy with Intelligent Algorithms and VR-Based Teleoperation

Population ageing, neurological and orthopaedical diseases, and shortages in medical staff result in the need to develop tools for minimally supervised therapy. To guarantee effective kinesiotherapy in high doses, rehabilitation robots are required. However, they require additional technologies for automating treatment and monitoring patients’ safety. This paper presents and assesses such technologies integrated with the SmartEx-Twin exoskeleton of a lower extremity and its digital twin in virtual reality (VR) for teleoperation during emergency cases. The intelligent algorithms were proven to increase the effectiveness of the therapy, as assessed based on the EMG measured. The VR system was validated as also increasing the effectiveness, but reducing the perception of tiring exercises, based on EEG tracking. Additionally, the accuracy of controlling exoskeleton movements was measured. It was found out that the poor operation skills of the physiotherapist in the VR environment can increase motion inaccuracies by as much as 30 degrees per joint. Additional emergency tools triggered by spastic cramps detected and risk of pain were assessed as fully reliable and working with the delay of up to 125 ms and 2 s, respectively. The whole system was implemented for the exoskeleton and will undergo further tests to minimize control inaccuracies and teleoperation delays.