University of Twente Student Theses
Measuring relative bone pose inside a bi-lateral ankle exoskeleton using A-mode ultrasound
Herpen, N. van (2019) Measuring relative bone pose inside a bi-lateral ankle exoskeleton using A-mode ultrasound.
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| Abstract: | In this study, we present a non-invasive method for directly quantifying tibiofibular pose in-vivo in a bi-lateral ankle exoskeleton during plantar & dorsiflexion. 26 A-Mode US transducers were used, held in place by a rigid, 3D-printed brace without using additional tracking methods to live track the transducer positions. The brace contains holders with a user friendly mechanism to find proper US-reflective bone surfaces. A window-based method was used for peak detection, Iterative Closest Point algorithm was used for bone segmentation registration. Passive optical markers were used for evaluation of the bone pose estimation accuracy. During plantar & dorsiflexion swings registration errors were 6.22±1.17mm and estimation errors were 35.40 plusminus 8.33mm. This study did not perform cadaveric accuracy studies. Thanks to being non-invasive, non-radiative and highly compatible with wearable robotics, A-mode ultrasound skeletal motion capturing has the potential to obtain high-accuracy skeletal kinematics in robot-assisted rehabilitation & computeraided surgery. |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Subject: | 52 mechanical engineering |
| Programme: | Mechanical Engineering MSc (60439) |
| Link to this item: | https://purl.utwente.nl/essays/79131 |
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