3D Visualisation for Physiotherapy Robotics Systems
As part of my degree I am spending six months working on developing a visualisation system for robotics physiotherapy systems. The aim of the project is to create a visualisation system which can be applied primarily to the Leeds iPAM rehabilitation robot, but also be flexible enough to visualise any robotic system. The purpose of adding a visualisation system is to add context for the user and provide motivation during therapy sessions.
The designed project is implemented in C#.and the visualisation component utilises the XNA framework. THe hardware target is Vertex Shader and Pixel Shader version 2.0 compliant hardware.
The project has split into two distinct areas.
- A generalised robot class in c#
- A visualisation system using XNA
The robot class implements a fully configurable structure for storing and retreiving robotic joint movement over time. The configuration is done at the time the object is created by passing a robot description XML string which configures the class datastructures for the specific machine. Applications access the robot parameters using a number of methods within the robot class which give access to joint and robot information.
The visualisation system is implemented in XNA and shows a basic implementation of the robot class and how it can be used to visualise a data stream from the iPAM robot.
You can download a copy of my dissertation here (pdf).