A Patient-Centric Sensory System for In-Home Rehabilitation

This paper presents a patient-centric rehabilitation practice monitoring sensory system, which operates based on monitoring rotational joints' angle. At each joint, an inertial and a magnetometer sensors are simultaneously used to accurately measure a desired angle. Benefiting from a modified complementary filter to combine the results of both sensors, the root mean square errors of less than 1.6 and 1.7 degrees were calculated, respectively, for the static and dynamic evaluation tests. The outcome results show that the errors associated with both the static and dynamic evaluation are in turn ~ 22% and ~ 4.5% lower. To ensure the correctness of practices, the deviation of the measurement results (joint angle) from a known reference over time is considered as a qualification measure. Also, the obtained qualification measure is compared with the overall level of adenosine triphosphate generated in muscles, which is accounted for fatigue. The qualification measure can enable the developed system to calculate to the optimum velocity of specific movements.