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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="Stretch with Stretch">
<meta name="keywords" content="Stretch, Robot Theraphy, Parkinson">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Stretching with Stretch: Physical Therapy Exercise Games
Led by a Mobile Manipulator</title>
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</nav>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">Stretch with Stretch: Physical Therapy Exercise Games
Led by a Mobile Manipulator</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://www.linkedin.com/in/matthew-lamsey-901502166/">Matthew Lamsey</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://youliangtan.github.io/">You Liang Tan</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://sites.gatech.edu/hrl/">Meredith D. Wells</a><sup>2</sup>,
</span>
<span class="author-block">
<a href="https://madelinebeatty.com/me">Madeline Beatty</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/zexuan-liu">Zexuan Liu</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://arjunmajum.github.io/">Arjun Majumdar</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/kwashington55">Kendra Washington</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/jhfeldman1">Jerry Feldman</a><sup>3</sup>,
</span>
<span class="author-block">
<a href="https://naveenoid.wordpress.com/about/">Naveen Kuppuswamy</a><sup>4</sup>,
</span>
<span class="author-block">
<a></a> Elizabeth Nguyen<sup>2,5</sup>,
</span>
<span class="author-block">
<a ></a>Arielle Wallenstein<sup>2</sup>,
</span>
<span class="author-block">
<a href="https://med.emory.edu/departments/medicine/divisions/geriatrics-gerontology/profile/?u=MEHACKN">Madeleine E. Hackney</a><sup>2</sup>,
</span>
<span class="author-block">
<a href="https://charliekemp.com/">Charles C. Kemp</a><sup>1</sup>,
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Georgia Institute of Technology</span>
<span class="author-block"><sup>2</sup>Emory University School of Medicine</span>
<span class="author-block"><sup>3</sup>The Parkinson's Foundation</span>
<span class="author-block"><sup>4</sup>Toyota Research Institute</span>
<span class="author-block"><sup>5</sup>University of Texas Long School of Medicine</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<!-- <span class="link-block">
<a href="https://arxiv.org/pdf/2011.12948"
class="external-link button is-normal is-rounded is-dark">
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<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
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<a href="https://arxiv.org/abs/2312.13279"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv Paper</span>
</a>
</span>
<!-- Video Link. -->
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class="external-link button is-normal is-rounded is-dark">
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<span>Video</span>
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<!-- Code Link. -->
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class="external-link button is-normal is-rounded is-dark">
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</span>
<span>Code (Coming Soon!)</span>
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</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<img src="./static/images/overview.png" alt="Sws overview img">
<h2 class="subtitle has-text-centered">
<span class="dnerf">Stretch with stretch</span> is a system that enables a mobile manipulator to lead
exercise games for physical therapy.
</h2>
</div>
</div>
</section>
<!-- <section class="hero is-light is-small">
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
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<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/mask.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/coffee.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/toby2.mp4"
type="video/mp4">
</video>
</div>
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</section> -->
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson's disease (PD). However, there are shortages of physical therapists and adherence to self-guided PT is low. Robots have the potential to support physical therapists and increase adherence to self-guided PT, but prior robotic systems have been large and immobile, which can be a barrier to use in homes and clinics. We present Stretch with Stretch (SWS), a novel robotic system for leading stretching exercise games for older adults with PD. SWS consists of a compact and lightweight mobile manipulator (Hello Robot Stretch RE1) that visually and verbally guides users through PT exercises. The robot's soft end effector serves as a target for users to repetitively reach towards and press with a hand, foot, or knee. For each exercise, target locations are customized for the individual via a visually estimated kinematic model, a haptically estimated range of motion, and the person's exercise performance. The system includes sound effects and verbal feedback from the robot to keep users engaged throughout a session and augment physical exercise with cognitive exercise. We conducted a user study for which people with PD (n=10) performed 6 exercises with the system. Participants perceived the SWS to be useful and easy to use. They also reported mild to moderate perceived exertion (RPE).
</p>
<!-- <p> -->
<!-- SWS consists of a compact and lightweight mobile manipulator (Hello Robot Stretch RE1) that visually and verbally guides users through PT exercises. The robot's soft end effector serves as a target for users to repetitively reach towards and press with a hand, foot, or knee. For each exercise, target locations are customized for the individual via a visually estimated kinematic model, a haptically estimated range of motion, and the person's exercise performance. The system includes sound effects and verbal feedback from the robot to keep users engaged throughout a session and augment physical exercise with cognitive exercise. We conducted a user study for which people with PD ($n=10$) performed 6 exercises with the system. Participants perceived the SWS to be useful and easy to use. They also reported mild to moderate perceived exertion (RPE) -->
<!-- </p> -->
</div>
</div>
</div>
<!--/ Abstract. -->
<!-- Paper video. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<iframe width="560" height="315" src="https://www.youtube.com/embed/S-dgrtVdUgQ" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
</div>
</div>
</div>
<!--/ Paper video. -->
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Animation. -->
<div class="columns is-centered">
<div class="column is-full-width">
<img src="./static/images/exercise_grid.gif"
class="exercise-grid"
alt="Examples of 9 exercises designed based on LSVT BIG"/>
<br>
<br>
<h2 class="title is-3">Leading Exercises with a Mobile Manipulator</h2>
<p>The SWS is a robotic system designed for physical therapy, featuring a dynamic exercise difficulty adjustment mechanism. This system tailors its approach to individual users in three distinct ways:</p>
<ul>
<li>1. Estimating a user's range of motion using straightforward kinematic models.</li>
<li>2. Directly measuring a user's range of motion through haptic feedback.</li>
<li>3. Modifying the exercise difficulty based on data-driven models of the user's performance.</li>
</ul>
<br>
<!-- First content. -->
<h3 class="title is-4">1. Personalized to Human kinematic Model</h3>
<div class="content has-text-justified">
<p>
Sws can personalized the exercise to the user's body dimension. The robot can estimate the user's body dimension by measuring the user's height and arm length. The robot can also directly sample the user's range of motion by asking the user to reach the robot's end effector. The robot can then adjust the exercise to the user's body dimension.
</p>
</div>
<img src="./static/images/exercise_models_9.png"
class="kinematic-model"
alt="Kinematic model"
width="85%"/>
<!-- <div class="columns is-vcentered interpolation-panel">
<div class="column is-3 has-text-centered">
<img src="./static/images/interpolate_start.jpg"
class="interpolation-image"
alt="Interpolate start reference image."/>
<p>Start Frame</p>
</div>
<div class="column interpolation-video-column">
<div id="interpolation-image-wrapper">
Loading...
</div>
<input class="slider is-fullwidth is-large is-info"
id="interpolation-slider"
step="1" min="0" max="100" value="0" type="range">
</div>
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<img src="./static/images/interpolate_end.jpg"
class="interpolation-image"
alt="Interpolation end reference image."/>
<p class="is-bold">End Frame</p>
</div>
</div> -->
<br/>
<!--/ first content -->
<!-- Second Content -->
<h3 class="title is-4">2. Range of Motion with Haptic Feedback</h3>
<div class="content has-text-justified">
<p>
<span class="dnerf">Sws</span> is able to directly capture the range of motion of the user by having the user interacting with the robot's end effector, which serves as a target. The robot can then adjust the exercise to the user's range of motion.
</p>
</div>
<!--/ Range of motion -->
<!-- Third Content -->
<h3 class="title is-4">3. Adaptive exercise diificulty with user performance model</h3>
<div class="content has-text-justified">
<p>
The exercise difficulty is dynamically adjusted based on the user's performance. The robot can adjust the exercise difficulty by moving along a difficulty vector. The difficulty vector is computed based on the user's kinematic model. All components are personalized according to the user's kinematic model, range of motion, and current performance, which are then recorded for further analysis.
</p>
<img src="./static/images/calib-perf-animation.gif"
class="haptic-feedback"
alt="Haptic feedback"
width="85%"/>
<!-- </div> -->
</div>
</div>
</div>
<!--/ Animation. -->
<!-- Concurrent Work. -->
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-3">User Study and Analysis</h2>
<div class="content has-text-justified">
<p>
In our user study involving ten participants, we found that individuals with Parkinson's Disease (PD) have a favorable perception of the SWS system, viewing it as both beneficial and user-friendly. Our current robotic system offers verbal instructions and auditory feedback to the users. As part of the therapeutic process, participants engage in cognitive exercises, such as naming various U.S. states and animals during their physical activities. Our findings indicate that people with PD are generally capable of accurately following and executing exercises guided by a robot, underscoring the potential of robot-led physical therapy. A comprehensive analysis of these results can be found in the accompanying paper.
</p>
<img src='./static/images/participants.png' width='100%'/>
</div>
</div>
</div>
<!--/ Concurrent Work. -->
</div>
</section>
<!--
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<h2 class="title">BibTeX</h2>
<pre><code>@article{park2021nerfies,
author = {Park, Keunhong and Sinha, Utkarsh and Barron, Jonathan T. and Bouaziz, Sofien and Goldman, Dan B and Seitz, Steven M. and Martin-Brualla, Ricardo},
title = {Nerfies: Deformable Neural Radiance Fields},
journal = {ICCV},
year = {2021},
}</code></pre>
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