Sensorized Exoskeleton For Therapy Gamification

Abstract

Rehabilitation of knee injuries is a demanding process, often hindered by repetitive exercises and subjective progress assessments, leading to patient demotivation and prolonged recovery. This bachelor’s thesis addresses these challenges by proposing a sensorized exoskeleton integrated with a serious-game-like application. The aim is to show the potential for future development of therapy gamification of knee injuries.

The project combines wearable sensor technology with a serious-game-like application to simulate rehabilitation. A lightweight, 3D printed exoskeleton prototype equipped with an angular encoder, an IMU, and EMG sensors was developed to collect real-time kinematic data. This data is processed via micro-ROS and ROS 2 for joint angle and movement analysis, as well as muscle activity. It is then transmitted to a Unity game. In this environment, knee angle measurements drive the primary "Exo-Slide" therapy game, while EMG threshold crossings control the "Rehab Flappy" adaptation game. Gamification elements such as visual feedback and goal-oriented tasks were incorporated to motivate patients and ensure adherence to prescribed exercises.

Results showed that it is possible to use a sensorized exoskeleton to accurately control a serous-game-like application, which is promising for the development of actual serious gaming integration. Future work includes gamifying more rehab exercises, expanding sensor types, and refining the gamification framework for broader applications.

This project highlights the transformative role of interdisciplinary engineering in healthcare, wearable robotics, and bridging biomedical innovation with patientcentered game design to redefine modern physiotherapy.