GraspTrainer

GraspTrainer software to allow tetraplegic patients to practice hand control.

GraspTrainer sensor module

Components:

• BL652
• BMX160

GraspTrainer functionalities :

• Highlight and give informations about the nearest objects
• Grab and move objects
• Gravity, objects interactions
• Track and export the patient's performances
• Set targets to practice control
• Connect to arm tracker and control module trough bluetooth
• Multilingual support
• Multiple room / scenes

Positions :

ID	Image	Blender Image	Description
0		Init
1		Ouvert
2		Prise Pince (avec pouce et index / voire majeur, en opposition) ? parfois appelé pincement palmaire.
3		Prise palmaire pouce libre (au sens non stimulé)? certains l?appelle simplement prise palmaire ou prise cylindrique (peut être plus visible sur image 2)
4		Autre type de pince avec main fermée et pouce en pince
5		Prise palmaire pouce libre (au sens non stimulé)
6		Prise Sphere (ici à 4 doigts)
7		Prise palmaire cylindrique, quand le pouce contribue à la prise (ex : pour tenir une bouteille d?eau)

File Architecture :

+ Bluetooth
    + BleApi
        - BleApi.cs
        - BluetoothLowEnergyApi.dll
    - Bluetooth.cs
    - BluetoothArmDevice.cs
    - BluetoothBaseDevice.cs
    - BluetoothControlDevice.cs
    - MadgwickAHRS.cs
+ GameManager.cs
+ IO
    - Configuration.cs
    - CsvEngine.cs
    - PerformanceMonitor.cs
+ Objects
    - Bottle.cs
    - Glass.cs
    - Object.cs
    - Objects.cs
    - Pen.cs
    - Target.cs
    - TargetObject.cs
+ Scene
    - ArmsController.cs
    - Drawable.cs
    - Switch.cs
    - UserCamera.cs
+ Translation
    - TextTranslater.cs
    - Translate.cs
+ UI
    - FileSelector.cs
    - HandIndication.cs
    - MySlider.cs
    - Notifier.cs
    - ReplayInterface.cs
    - SessionManager.cs
    - SliderMenuAnimation.cs
    - Tooltip.cs
    - TrainingInterface.cs

Features :

• Control the opening of the hand with the keyboard or the control module
• Control the position of the arm with the arm sensor
• Retractable menu
• Catch / interact with objects
  • Fill glass with bottle
  • draw on the table
  • Push objects between them (collisions)
  • Switch controllable by the index
• Hand condition indicator
  • visual
  • current command + command to catch the object
• Exercises
  • Create exercises / save file
  • Load then play exercises
  • Edit exercises
• User session management
• Saving of performances (exercise trajectories / command on objects)
• Replay
  • Record sequences
  • Replay sequences (with cursor to control)
  • Save / load
• Notification system (for information on the simulator - possibly errors)
• Change the distance at which you can grab objects
• Scene reset (object position + camera orientation)
• Control of the user's view (camera) with the mouse
• Display of bluetooth module information (status / battery / signal quality), latency, etc.
• Management of left-handed / right-handed mode
• Multi language
• Different environments
• Command dictionary updated when connecting the control module

Versions :

• Visual Studio 2019 16.10.3
• Blender 2.91.0
• Unity 2020 2020.3.12f1 LTS

License

Copyright © 2021, NEURINNOV.