T
E
L
KO
M
N
I
KA
T
e
lec
om
m
u
n
icat
ion
,
Com
p
u
t
i
n
g,
E
lec
t
r
on
ics
an
d
Cont
r
ol
Vol.
1
8
,
No.
4
,
Augus
t
2020
,
pp.
208
0
~
2086
I
S
S
N:
1693
-
6930,
a
c
c
r
e
dit
e
d
F
ir
s
t
G
r
a
de
by
Ke
me
nr
is
tekdikti
,
De
c
r
e
e
No:
21/E
/KP
T
/2018
DO
I
:
10.
12928/
T
E
L
KO
M
NI
KA
.
v1
8
i
4
.
3775
2080
Jou
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n
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omepage
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tp:
//
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2020
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mean
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t
ac
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h
a
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ci
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g
t
h
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effect
i
v
e
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s
o
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t
h
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s
t
ro
k
e
reh
ab
i
l
i
t
a
t
i
o
n
s
y
s
t
em.
K
e
y
w
o
r
d
s
:
C
ha
r
a
c
ter
r
e
c
ognit
ion
C
hil
d
e
duc
a
ti
on
E
dutainment
I
nt
e
ll
igenc
e
R
oboti
c
s
Th
i
s
i
s
a
n
o
p
en
a
c
ces
s
a
r
t
i
c
l
e
u
n
d
e
r
t
h
e
CC
B
Y
-
SA
l
i
ce
n
s
e
.
C
or
r
e
s
pon
din
g
A
u
th
or
:
Ahma
d
Hoir
ul
B
a
s
or
i,
F
a
c
ult
y
of
C
omput
ing
a
nd
I
nf
or
mation
T
e
c
hnolog
y
R
a
bigh,
King
Abdula
z
iz
Unive
r
s
it
y,
Rab
i
g
h
,
Mak
k
ah
,
S
a
udi
Ar
a
bia
.
E
mail:
a
ba
s
or
i@ka
u.
e
du.
s
a
1.
I
NT
RODU
C
T
I
ON
T
he
uti
li
z
a
ti
on
o
f
r
obot
f
or
ne
ur
o
-
r
e
ha
bil
it
a
ti
on
h
a
s
be
e
n
a
c
c
e
pted
wide
ly,
a
nd
pr
e
vious
r
e
s
e
a
r
c
he
r
us
e
d
thi
s
method
to
do
tr
e
a
tm
e
nt
of
C
e
r
e
br
a
l
P
a
ls
y
s
tudent.
I
t's
pr
ove
n
a
s
a
n
e
f
f
e
c
ti
ve
method
f
or
thei
r
ther
a
py
[
1]
.
T
he
r
e
ha
bil
it
a
ti
on
pr
oc
e
s
s
e
s
a
ga
me
that
c
a
n
he
lp
them
to
r
e
-
c
oor
dinate
their
mot
or
ic
,
memor
y
a
nd
e
ve
n
c
ognit
ion
s
kil
ls
.
As
we
know,
that
uppe
r
li
mb
ho
lds
a
vit
a
l
r
ole
f
o
r
pe
ople
to
pe
r
f
or
m
th
e
ir
da
il
y
a
c
ti
vit
ies
[
2,
3]
.
T
he
r
e
f
or
e
,
the
r
e
s
e
a
r
c
he
r
ke
e
p
innovate
s
,
a
nd
they
a
ls
o
us
e
d
Kine
c
t
c
a
mer
a
a
s
a
s
s
is
ti
ve
tec
hnology
to
he
lp
s
tr
oke
pa
ti
e
nt
ga
in
their
mot
o
r
i
c
s
kil
ls
a
ga
in
[
4]
.
T
he
y
of
f
e
r
e
d
leve
ll
e
d
tas
ks
with
va
r
ious
of
the
c
ha
ll
e
nge
of
int
e
r
a
c
ti
on.
T
he
r
ole
r
e
quir
e
d
mot
or
ic
a
nd
c
oor
dination
uppe
r
li
mbs
c
ontr
ol.
Kine
c
t
tec
hnology
ha
s
be
e
n
e
f
f
e
c
ti
ve
ly
us
e
d
f
or
mul
ti
ple
c
ont
r
ol
in
s
tr
oke
r
e
ha
bil
it
a
ti
on
.
S
ome
of
them
by
c
ombi
ning
the
vir
tual
r
e
a
li
ty
(
VR
)
tec
hnology
to
c
r
e
a
te
v
ir
tua
l
boa
t
a
nd
bootl
e
,
then
a
s
k
the
us
e
r
to
pe
r
f
or
m
a
p
a
r
ti
c
ular
tas
k.
T
he
ga
me
de
s
igned
to
moni
tor
moveme
nt
of
s
ubjec
t
a
nd
ke
e
p
tr
a
c
k
of
their
pr
ogr
e
s
s
ba
s
e
d
on
a
c
c
ompl
is
hment
of
e
a
c
h
tas
k
[5
-
11]
.
T
he
r
obot
f
o
r
ther
a
py
ha
s
be
e
n
incr
e
a
s
e
d
f
o
r
the
pa
s
t
s
e
ve
r
a
l
y
e
a
r
s
a
nd
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
E
nd
-
e
ff
e
c
tor
w
he
e
led
r
oboti
c
ar
m
gaming
pr
otot
y
pe
for
…
(
A
hmad
Hoir
ul
B
as
or
i
)
2081
ke
e
p
gr
owing
in
ter
m
of
number
a
nd
method
how
t
o
pr
oduc
e
mor
e
int
e
ns
ive
a
nd
qua
nti
f
iable
tr
a
ini
ng
[
12
-
14]
.
It
a
r
gue
d
that
r
oboti
c
tr
e
a
tm
e
nt
s
uc
c
e
s
s
f
ull
y
incr
e
a
s
e
s
the
e
f
f
icie
nc
y
of
ther
a
py
to
be
mor
e
int
e
r
a
c
ti
ve
,
e
f
f
icie
nt,
a
da
pti
ve
a
nd
int
e
ns
e
.
T
he
o
ther
r
e
s
e
a
r
c
he
r
f
oc
us
e
d
on
s
tudyi
ng
the
mec
ha
nica
l
de
s
ign
o
f
t
he
r
obot
us
e
d
f
or
tr
e
a
tm
e
nt
a
nd
how
s
igni
f
ica
nt
the
i
mp
a
c
t
of
the
r
obo
t
towa
r
d
r
e
ha
bil
it
a
ti
on
p
r
oc
e
s
s
.
I
t
c
ove
r
s
the
m
ode
l
of
int
e
r
a
c
ti
on
be
twe
e
n
man
a
nd
r
obot,
how
the
c
ontr
ol
is
igni
ted,
a
nd
how
the
tr
a
ini
n
g
model
is
pe
r
f
or
med
[
15
-
20]
.
R
e
ha
bil
it
a
ti
on
us
ing
r
obo
ti
c
ge
ne
r
a
ll
y
divi
de
d
int
o
c
lus
ter
e
nd
-
e
f
f
e
c
tor
(
E
E
)
a
nd
e
xos
k
e
leton
(
E
xo)
r
obot
a
c
c
or
ding
to
mec
ha
nica
l
c
ons
tr
uc
ti
on
of
the
r
obot
[
8
]
.
E
E
r
obot
us
e
s
a
c
onne
c
tor
to
li
nk
with
one
f
oc
us
e
d
point
o
f
the
hu
man
body,
f
or
e
xa
mpl
e
,
ha
nd
,
o
r
f
inger
s
o
the
joi
nt
not
s
ync
hr
onize
d.
W
hil
e
E
xo
r
obot
make
s
s
ync
hr
oniza
ti
on
be
twe
e
n
human
joi
nt
a
nd
r
obot
f
ull
y
,
the
r
e
f
or
e
c
oo
r
dination
o
f
mot
ion
a
nd
it
s
to
r
que
is
mor
e
unde
r
c
ontr
ol
[
21
,
22]
.
B
e
s
ides
,
to
c
hoos
e
a
s
uit
a
ble
r
obot
f
or
r
e
ha
bil
it
a
ti
on
,
s
e
ve
r
a
l
c
ompar
is
ons
ha
ve
be
e
n
made
be
tw
e
e
n
e
nd
-
e
f
f
e
c
tor
(
E
E
)
a
nd
e
xos
ke
leton
(
E
xo)
r
e
ha
bil
it
a
ti
on
r
obo
t
[
2
3]
.
T
he
i
r
e
xpe
r
im
e
nt
f
oc
us
e
d
on
two
dif
f
e
r
e
nt
c
lus
ter
s
:
E
E
a
nd
E
xo
c
lus
ter
.
T
he
i
r
a
s
s
e
s
s
ment
ba
s
e
d
on
the
s
c
or
e
of
the
f
ugl
-
meye
r
a
s
s
e
s
s
ment
(
F
M
A)
a
nd
wolf
mot
or
f
unc
ti
on
tes
t
(
W
M
F
T
)
.
I
ts
c
laimed
that
the
di
f
f
e
r
e
nc
e
s
be
twe
e
n
both
gr
oups
a
r
e
m
ini
mum
o
r
nothi
ng
s
ign
if
ica
nt,
r
e
f
e
r
to
F
igu
r
e
1
f
or
both
tes
ti
ng
c
ompar
is
on
.
T
he
other
r
e
s
e
a
r
c
he
r
pr
ovides
a
r
gue
d
that
t
r
a
ini
n
g
c
onc
e
r
ning
uppe
r
li
mb
mot
o
r
ic
ne
r
ve
with
E
E
a
ble
to
boos
t
up
the
r
e
c
ove
r
y
pr
oc
e
s
s
,
c
ompar
e
d
t
o
c
onve
nti
ona
l
ther
a
py
with
s
uba
c
ute
s
tr
oke
pa
ti
e
n
ts
[
24]
.
T
he
y
c
laimed
that
the
int
e
ns
it
y
o
f
tr
a
ini
ng
would
pr
oduc
e
a
be
tt
e
r
r
e
s
ult
f
or
r
e
ha
bil
it
a
ti
on
.
T
he
uppe
r
e
xtr
e
mi
ty
tr
a
ini
ng
is
one
o
f
the
methods
us
e
d
by
r
e
s
e
a
r
c
he
r
to
r
e
tur
n
the
f
unc
ti
ona
l
tas
k
of
the
uppe
r
li
mb
dur
i
ng
da
il
y
a
c
ti
vit
ies
[
25]
.
I
t
c
a
n
in
f
luenc
e
the
mo
tor
ic
s
kil
ls
of
a
s
tr
oke
pa
ti
e
nt.
T
he
y
us
e
d
the
e
nd
-
e
f
f
e
c
tor
r
o
bot
a
long
with
vir
tual
r
e
a
li
ty
ga
me
f
or
a
va
r
iety
of
tr
a
ini
ng
,
r
e
f
e
r
to
F
igur
e
2
.
P
r
e
vious
r
e
s
e
a
r
c
he
r
ha
s
wor
ke
d
in
tens
ively
by
c
ombi
ning
va
r
ious
methods
,
ha
r
dwa
r
e
a
nd
tec
hnology.
T
he
c
ontr
ibut
ion
of
our
r
e
s
e
a
r
c
h
f
oc
us
e
d
on
the
low
-
c
os
t
s
olut
ion
ye
t
wor
k
e
f
f
icie
ntl
y
f
o
r
home
-
ba
s
e
d
ther
a
py.
I
t
’
s
us
e
d
Kine
c
t
c
a
mer
a
a
s
r
obot
c
ontr
oll
e
r
a
nd
A
r
duino
ba
s
e
d
boa
r
d
a
s
e
nd
-
e
f
f
e
c
tor
moi
le
r
obo
ti
c
a
r
m
mot
he
r
boa
r
d
.
(
a
)
(
b)
F
igur
e
1.
(
a
)
R
e
pr
e
s
e
nt
the
e
xpe
r
im
e
nt
of
the
E
E
g
r
oup,
while
(
b)
e
xpe
r
im
e
nt
by
e
xos
gr
oup
.
im
a
ge
c
our
tes
y
of
L
e
e
,
S
.
H
e
t
a
l
.
[
23
]
F
igur
e
2.
T
he
E
E
R
obot
de
vice
c
ombi
ne
d
with
VR
ga
mes
,
im
a
ge
c
our
tes
y
of
C
ho
K.
H
.
,
a
nd
S
ong
W
.
K
.
[
25]
2.
RE
S
E
AR
CH
M
E
T
HO
D
T
he
s
ubjec
t
will
us
e
the
Kine
c
t
c
a
mer
a
a
s
the
c
ontr
ol
of
the
w
he
e
l
r
oboti
c
a
r
m,
whic
h
is
s
ync
hr
onize
d
with
a
human
a
r
m.
T
he
y
wil
l
be
a
s
ke
d
to
pe
r
f
o
r
m
s
e
ve
r
a
l
tas
ks
r
e
pe
ti
ti
ve
ly
in
di
f
f
e
r
e
nt
pe
r
iod
.
M
a
ter
ials
:
T
he
r
e
is
th
r
e
e
lea
ding
ha
r
dwa
r
e
us
e
d
f
or
the
e
xpe
r
i
ment:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
1
8
,
No
.
4
,
Augus
t
2020
:
2080
-
2086
2082
−
Ar
duino
ba
s
e
d
w
he
e
l
r
o
bot
that
ha
s
f
our
mot
o
r
s
e
r
v
os
f
or
a
r
m
gr
ipper
,
a
nd
f
our
mot
or
s
e
r
vo
f
or
the
wh
e
e
l,
r
e
f
e
r
to
F
igur
e
3
.
−
Kine
c
t
c
a
mer
a
f
or
human
body
tr
a
c
king.
−
P
C
/l
a
ptop
f
or
s
of
twa
r
e
pr
oc
e
s
s
ing.
T
he
r
obot
ha
s
f
our
mot
or
s
e
r
vo
that
ha
ndli
ng
a
r
m,
one
mot
or
f
or
ha
nd
gr
ippi
ng
,
the
other
two
mot
or
s
s
uppor
ti
ng
the
a
r
m
f
or
li
f
t
ing
o
r
holdi
ng
the
objec
t
.
T
he
las
t
mo
tor
s
e
r
vo
is
ha
ndli
ng
ba
s
e
d
on
the
a
r
m,
whic
h
s
e
r
ve
s
r
otation
pur
pos
e
.
T
he
s
e
f
our
mot
or
s
e
r
vos
wor
k
togethe
r
s
ync
hr
onous
ly
ba
s
e
d
on
the
given
c
ontr
ol.
T
he
other
c
omponent
is
the
B
luetooth
s
e
ns
or
(
HC
-
05)
that
r
e
s
pons
ibl
e
f
or
r
e
c
e
ivi
ng
the
c
omm
a
nd
or
c
ontr
ol
f
r
om
a
Kine
c
t
c
a
mer
a
.
S
ince
we
us
e
d
Kine
c
t,
the
n
we
map
the
human
a
r
m
towa
r
d
r
oboti
c
a
r
m
c
o
mponent
a
s
s
hown
in
F
igur
e
4
.
T
he
pr
os
e
s
a
r
e
s
tar
ted
by
a
djus
ti
ng
the
po
s
it
ion
of
the
Kine
c
t,
then
Kine
c
t
will
be
gin
to
r
e
c
ognize
the
loca
ti
on
of
the
us
e
r
.
Kine
c
t
wil
l
g
r
a
b
the
de
pth
im
a
ge
of
the
us
e
r
then
c
onve
r
t
int
o
a
s
e
que
nc
e
of
mot
ion
to
be
s
e
nt
to
the
whe
e
led
r
oboti
c
a
r
m
via
B
luetooth
c
onne
c
ti
on.
Onc
e
it
s
f
ull
y
s
ync
hr
onize
d,
the
us
e
r
c
a
n
c
ontr
ol
the
whe
e
led
r
obot,
make
it
move
to
a
nother
loca
t
ion
a
nd
c
ontr
ol
the
gr
ipper
,
the
methodology
is
il
lus
tr
a
ted
in
F
igur
e
5
.
(
a
)
(
b)
F
igur
e
3.
Ar
duino
ba
s
e
d
w
he
e
l
r
oboti
c
a
r
m,
(
a
)
a
s
s
e
mbl
y
in
pr
og
r
e
s
s
,
(
b)
a
s
s
e
mbl
y
c
ompl
e
te
F
igur
e
4.
S
ubjec
t
a
r
m
s
ync
hr
oniza
ti
on
with
Kine
c
t
c
a
mer
a
F
igur
e
5
.
M
e
thodol
ogy
of
the
p
r
opos
e
d
s
ys
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
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NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
E
nd
-
e
ff
e
c
tor
w
he
e
led
r
oboti
c
ar
m
gaming
pr
otot
y
pe
for
…
(
A
hmad
Hoir
ul
B
as
or
i
)
2083
F
igur
e
6
de
s
c
r
ibes
va
r
ious
S
DK
invol
ve
s
on
buil
ding
the
p
r
otot
ype
,
vis
ua
l
s
tudi
o
a
nd
Kine
c
t
S
DK
c
ome
a
s
a
bundle
f
or
ha
ndli
ng
ge
s
tur
e
tr
a
c
king
o
f
the
human
s
ke
leton.
W
hil
e
Ar
duino
li
br
a
r
y
is
r
e
s
pons
ibl
e
f
or
c
omm
un
ica
ti
on
be
twe
e
n
Kine
c
t
c
a
mer
a
a
nd
mot
or
s
e
r
vo
of
th
e
r
obot,
the
ha
nd
ge
s
tur
e
of
us
e
r
will
be
c
a
ptur
e
d
by
Kine
c
t
c
a
mer
a
then
pa
s
s
e
d
ove
r
B
luetooth
s
e
ns
or
.
T
his
s
e
ns
or
will
s
e
nd
the
c
omm
a
nd
w
ir
e
les
s
ly
via
P
e
e
r
to
P
e
e
r
c
omm
unica
ti
on
with
A
r
duino
boa
r
d
.
F
igur
e
6
.
Ar
c
hit
e
c
tur
e
diagr
a
m
o
f
the
e
nd
-
e
f
f
e
c
tor
whe
e
l
r
oboti
c
a
r
m
pr
otot
ype
3.
RE
S
UL
T
S
AN
D
DI
S
CU
S
S
I
ON
T
he
pr
opos
e
d
r
e
s
e
a
r
c
h
a
im
s
to
he
lp
s
ubjec
t
r
e
ga
i
n
their
mot
or
ic
c
oor
dinat
ion
a
nd
ba
lanc
ing
their
moveme
nt
towa
r
d
pr
a
c
ti
c
e
with
the
r
obot.
T
o
r
e
lea
r
n
the
s
ubjec
t
uppe
r
e
xtr
e
mi
ty,
a
r
e
pe
ti
ti
ve
tas
k
ye
t
c
ha
ll
e
nging
ne
e
d
to
be
s
ti
mul
a
ted
c
onti
nuous
ly
towa
r
d
thr
ough
c
ons
is
tent
tr
a
ini
ng
.
Dur
ing
the
t
r
a
ini
ng,
the
us
e
r
ne
e
ds
to
a
c
c
ompl
is
h
a
f
e
w
jobs
by
movi
ng
the
whiteboa
r
d
mar
ke
r
f
r
om
one
holder
to
a
nother
holder
:
3.
1.
Gener
al
c
h
al
lenge
of
s
t
r
ok
e
t
h
e
r
ap
y
T
his
c
ha
ll
e
nge
f
oc
us
e
d
on
c
ontr
oll
ing
the
r
obot
t
o
f
r
e
e
ly
move
f
r
o
m
one
loca
ti
on
towa
r
d
a
nother
loca
ti
on
by
us
ing
the
s
ubjec
t
ge
s
tur
e
.
Us
e
r
ne
e
ds
to
move
the
whe
e
led
r
obot
ic
a
r
m
thr
ough
th
r
e
e
o
bs
tac
les
.
T
he
s
pe
e
d
o
f
the
r
obot
c
a
n
be
s
e
t
up
indepe
nde
nt
ly
or
a
utom
a
ti
c
a
ll
y
.
Us
e
r
ne
e
d
to
pr
ovide
ge
s
tur
e
s
uc
h
a
s
movi
ng
ha
nd
lef
t
a
nd
r
ight
to
manoe
uvr
e
a
nd
a
voi
d
a
n
obs
tac
le.
T
h
is
tr
a
ini
ng
is
r
e
f
lec
ted
in
F
igur
e
7
,
a
nd
us
e
r
will
ini
ti
a
te
the
whe
e
l
r
obot
moveme
nt
then
t
r
y
to
e
va
de
thr
e
e
boxe
s
.
At
f
i
r
s
t,
s
ubjec
t
a
ble
to
a
void
the
obs
tac
le,
whe
n
the
s
e
c
ond
tr
ial
it
s
f
a
il
e
d
a
nd
c
r
a
s
h
ed
the
box.
Us
e
r
will
r
e
pe
ti
ti
ve
ly
us
e
their
ha
nd
ge
s
tur
e
to
move
the
whe
e
led
r
obot
with
mor
e
obs
tr
uc
ti
on
a
c
c
or
ding
to
the
leve
l
of
tr
a
ini
ng
a
s
s
hown
in
F
igu
r
e
7.
(
a
)
(
b)
(
c
)
F
igur
e
7
.
Ge
ne
r
a
l
c
ha
ll
e
nge
o
f
S
t
r
oke
T
he
r
a
phy:
(
a
)
whe
e
l
r
obot
ini
ti
a
li
z
a
ti
on
,
(
b)
s
ubjec
t
t
r
y
to
e
va
de
the
obs
tac
le,
(
c
)
us
e
r
not
a
b
le
to
a
void
obs
tac
le
(
c
r
a
s
h)
3.
2.
Upp
e
r
e
x
t
r
e
m
it
y
c
h
a
ll
e
n
ge
f
or
u
p
p
e
r
l
im
b
m
ot
or
ic
n
e
r
ve
T
his
c
ha
ll
e
nge
is
de
s
igned
to
he
lp
us
e
r
f
or
r
e
lea
r
ni
ng
their
uppe
r
li
mb
mot
or
ic
s
kil
ls
a
nd
c
oor
dination
that
mi
ght
los
e
due
to
s
tr
oke
.
I
n
the
f
ir
s
t
leve
l
,
thr
e
e
pe
n
holder
s
c
ons
is
t
of
two
boa
r
d
mar
ke
r
s
.
Us
e
r
ne
e
ds
to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
1
8
,
No
.
4
,
Augus
t
2020
:
2080
-
2086
2084
move
the
boa
r
d
mar
ke
r
s
f
r
o
m
one
holder
int
o
ot
he
r
holder
s
r
e
pe
ti
ti
ve
ly.
T
he
s
e
c
ond
leve
l:
pe
n
ho
lder
s
a
r
e
r
a
is
e
d,
a
nd
the
s
ubjec
t
will
do
a
s
im
il
a
r
tas
k
by
m
oving
the
boa
r
d
mar
ke
r
f
r
om
one
holde
r
to
a
nother
holder
.
How
e
ve
r
,
in
thi
s
s
e
c
ond
leve
l,
us
e
r
wi
ll
s
tr
uggle
o
n
their
uppe
r
e
xtr
e
mi
ty
due
t
o
the
whe
e
l
r
oboti
c
a
r
m
ba
r
e
ly
c
a
tch
up
to
the
he
ight
of
the
box
.
T
he
whole
p
r
oc
e
s
s
is
de
s
c
r
ibed
in
T
a
ble
1
.
T
a
ble
1.
Uppe
r
e
xtr
e
m
it
y
c
ha
ll
e
nge
f
o
r
uppe
r
li
mb
mot
or
ic
ne
r
ve
C
ha
ll
e
nge
S
c
e
na
r
io
S
c
or
e
1
T
he
s
ubj
e
c
t
r
e
qui
r
e
s
to
c
ont
r
ol
th
e
w
he
e
le
d
r
obot
a
nd
ma
ke
i
t
c
lo
s
e
t
o t
he
obj
e
c
t
s
.
1
poi
nt
if
us
e
r
c
lo
s
e
d
e
nough
f
or
a
r
m
to
r
e
a
c
h
th
e
boa
r
d ma
r
ke
r
a
nd didn’
t
c
r
a
s
h t
he
box
2
T
he
S
ubj
e
c
t
a
s
ke
d
to
a
ppr
oa
c
h
a
pe
n
hol
de
r
a
nd
hol
d
th
e
ma
r
ke
r
.
1 point
i
f
t
he
pe
n holde
r
not
f
a
ll
in
g down
3
T
he
S
ubj
e
c
t
r
a
is
e
th
e
boa
r
d
ma
r
ke
r
out
of
th
e
pe
n
hol
de
r
a
nd move
d ba
c
kw
a
r
ds
.
1 point
i
f
t
he
box a
nd boa
r
d ma
r
ke
r
not
dr
oppi
ng
4
T
he
S
ubj
e
c
t
put
th
e
boa
r
d
ma
r
ke
r
on
th
e
pe
n
th
e
th
ir
d
pe
n
hol
de
r
s
ge
nt
ly
.
1
poi
nt
i
f
th
e
box
a
nd
boa
r
d
ma
r
ke
r
s
uc
c
e
s
s
f
ul
ly
in
s
id
e
th
e
pe
n holde
r
s
a
nd i
ts
not
f
a
ll
in
g down
T
he
ini
t
ial
e
va
luation
wa
s
tes
ted
wi
th
16
he
a
lt
hy
s
ubjec
ts
to
pr
oo
f
the
us
e
r
a
c
c
e
ptanc
e
towa
r
d
our
pr
otot
ype
,
two
hypothes
e
s
de
r
ived
f
r
o
m
the
e
xpe
r
i
ment
:
H1:
T
he
s
tate
of
a
s
ubjec
t
that
ha
s
int
e
ns
ive
tr
a
ini
n
g
with
whe
e
led
r
obot
ic
a
r
m
f
or
s
tr
oke
ther
a
py
.
H2:
T
he
s
tate
of
s
ubjec
t
us
e
d
the
whe
e
led
r
obo
ti
c
a
r
m
f
o
r
s
tr
oke
ther
a
py
without
a
ny
t
r
a
ini
ng
.
T
o
pr
ove
our
hypothes
is
,
we
r
un
the
AN
OV
A
tes
t
a
s
s
hown
in
T
a
ble
2,
a
nd
we
obtain
the
F
va
lue
0.
128449
<
4
.
170877
(
F
c
r
it
)
.
S
o,
we
c
a
nnot
r
e
j
e
c
t
the
null
hypothes
is
that
mea
ns
,
ther
e
is
no
s
i
gnif
ica
nt
dif
f
e
r
e
nc
e
be
twe
e
n
tr
a
ini
ng
be
f
or
e
the
ther
a
py
wit
h
dir
e
c
t
us
e
of
whe
e
led
r
oboti
c
a
r
m
.
I
ts
a
ls
o
pr
ove
n
t
ha
t
our
pr
opos
e
d
s
ys
tem
i
s
ge
ne
r
a
ll
y
a
c
c
e
pted
by
the
u
s
e
r
a
nd
it
s
e
a
s
y
to
u
s
e
a
s
hom
e
-
ba
s
e
d
ther
a
py,
whe
r
e
us
e
r
c
a
n
ha
ve
mor
e
f
lexibil
it
y
to
do
s
e
lf
-
ther
a
py
indepe
nde
ntl
y
a
nd
int
e
ns
e
ly,
r
e
f
e
r
to
F
igur
e
8.
T
a
ble
2.
Anova
a
na
lys
is
f
or
the
pr
opos
e
d
whe
e
l
r
o
boti
c
a
r
m
A
nova
:
S
in
gl
e
F
a
c
to
r
S
U
M
M
A
R
Y
G
r
oups
C
ount
S
um
A
ve
r
a
ge
V
a
r
ia
nc
e
W
it
hout
T
r
a
in
in
g
16
1329.7
83.10625
41.63929
W
it
h T
r
a
in
in
g
16
1342.8
83.925
41.862
ANOVA
S
our
c
e
of
V
a
r
ia
ti
on
SS
df
MS
F
P
-
va
lu
e
F
c
r
it
B
e
twe
e
n
G
r
oups
5.362813
1
5.362813
0.128449
0.722556
4.170877
W
it
hi
n G
r
oups
1252.519
30
41.75065
T
ot
a
l
1257.882
31
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
E
nd
-
e
ff
e
c
tor
w
he
e
led
r
oboti
c
ar
m
gaming
pr
otot
y
pe
for
…
(
A
hmad
Hoir
ul
B
as
or
i
)
2085
F
igur
e
8
.
Us
e
r
a
c
c
e
ptanc
e
towa
r
d
the
p
r
opos
e
d
s
ys
tem
4.
CONC
L
USI
ON
T
he
s
tr
oke
ha
s
c
a
us
e
d
a
lot
of
is
s
ue
in
da
il
y
huma
n
li
f
e
.
Huma
n
obs
tr
uc
ts
to
their
da
il
y
a
c
ti
vit
ies
due
to
li
mi
ted
moveme
nt
on
thei
r
uppe
r
li
mb,
a
nd
they
c
a
nnot
li
f
t
the
objec
t
quickly.
T
he
r
e
f
or
e
,
a
n
int
e
ns
e
tr
a
ini
ng
c
a
ll
e
d
s
tr
oke
r
e
ha
bil
it
a
ti
on
is
de
s
igne
d
to
r
e
lea
r
n
their
mot
o
r
ic
s
kil
ls
a
nd
c
oor
dination
be
twe
e
n
mu
s
c
le
a
nd
br
a
in.
How
e
ve
r
,
due
to
of
c
ompl
e
xit
y
o
f
the
r
a
py
s
ys
tem
in
the
hos
pit
a
l
that
mainly
us
e
d
ve
r
y
e
x
pe
ns
ive
e
xos
ke
leton
r
obot,
us
e
r
s
tuck
with
the
ve
r
y
ti
ght
s
c
he
dule
a
nd
li
mi
ted
number
of
tr
a
ini
ng.
T
his
pa
pe
r
pr
opos
e
s
a
n
innovative
a
nd
low
-
c
o
s
t
s
olut
ion
with
a
n
e
nd
-
e
f
f
e
c
tor
whe
e
l
r
oboti
c
a
r
m
that
buil
t
ba
s
e
d
on
the
Ar
duino
boa
r
d
a
nd
it
s
c
omponent.
T
he
c
ontr
oll
e
r
us
e
s
a
Kine
c
t
c
a
mer
a
that
ha
s
c
a
pa
bil
it
y
on
tr
a
c
king
the
human
ge
s
tur
e
.
T
he
s
ubje
c
t
a
s
ke
d
to
pe
r
f
or
m
a
n
int
e
ns
e
tr
a
ini
n
g
with
two
main
c
ha
ll
e
nge
:
ge
ne
r
a
l
a
nd
uppe
r
e
xtr
e
mi
ty
c
ha
ll
e
nge
.
T
he
y
a
r
e
ve
r
y
e
xc
it
e
d
a
bout
the
tr
a
ini
n
g
a
nd
mos
tl
y
ha
ppy
with
thi
s
home
-
ba
s
e
d
ther
a
py
s
ys
tem.
T
he
e
va
luation
r
e
s
ult
s
hows
that
the
us
e
r
didn
’
t
m
e
e
t
a
ny
d
if
f
iculty
to
us
e
the
s
ys
tem
with
a
95
%
c
onf
idenc
e
r
a
te
a
nd
a
r
ound
86%
o
f
them
l
ikely
will
a
dopt
thi
s
pr
opos
e
d
s
ys
tem
a
s
their
home
-
ba
s
e
d
r
e
ha
bil
it
a
ti
on
s
ys
tem.
W
e
be
li
e
ve
thi
s
s
y
s
tem
c
a
n
be
e
nha
nc
e
d
f
ur
ther
wi
th
mor
e
c
ha
ll
e
nge
towa
r
d
s
tr
oke
pa
ti
e
nts
to
g
a
in
e
f
f
icie
nc
y
of
the
p
r
opos
e
d
s
ys
tem
towa
r
d
s
oc
iety
.
AC
KNOWL
E
DGE
M
E
NT
S
T
his
wor
k
wa
s
s
uppor
ted
by
the
De
pa
r
tm
e
nt
of
I
n
f
or
mation
T
e
c
hnology,
F
a
c
ult
y
o
f
C
omput
ing
a
nd
I
nf
or
mation
tec
hnology
R
a
bigh,
King
Abdula
z
iz
Unive
r
s
it
y,
R
a
bigh,
M
a
kka
h
S
a
udi
Ar
a
bia.
T
he
a
uthor
,
ther
e
f
or
e
,
gr
a
tef
ull
y
a
c
knowle
dge
the
F
C
I
T
R
tec
hnica
l
s
uppor
t.
RE
F
E
RE
NC
E
S
[1
]
C.
Bay
o
n
,
R.
Ray
a,
an
d
L
.
Serg
i
o
,
"
Ro
b
o
t
i
c
T
h
erap
i
e
s
fo
r
Ch
i
l
d
ren
w
i
t
h
Cereb
ral
Pal
s
y
:
a
Sy
s
t
emat
i
c
Rev
i
ew
,
"
Tr
a
n
s
l
a
t
i
o
n
a
l
B
i
o
m
ed
i
ci
n
e,
v
o
l
.
7
,
n
o
.
1
,
p
p
.
1
-
1
0
,
2
0
1
6
.
[
2
]
D
.
J
.
M
a
g
e
r
m
a
n
s
,
E
.
K
.
J
.
C
h
a
d
w
i
c
k
,
H
.
E
.
J
.
V
e
e
g
e
r
,
a
n
d
F
.
C
.
T
.
v
a
n
d
e
r
H
e
l
m
,
"
R
e
q
u
i
r
e
m
e
n
t
s
f
o
r
u
p
p
e
r
e
x
t
r
e
m
i
t
y
m
o
t
i
o
n
s
d
u
r
i
n
g
a
c
t
i
v
i
t
i
e
s
o
f
d
a
i
l
y
l
i
v
i
n
g
,
"
C
l
i
n
i
c
a
l
B
i
o
m
e
c
h
a
n
i
c
s
,
v
o
l
.
2
0
,
n
o
.
6
,
p
p
.
5
9
1
-
5
9
9
,
2
0
0
5
.
[3
]
B.
T
.
V
o
l
p
e
et
al
.
,
"
Ro
b
o
t
i
c
d
e
v
i
ce
s
as
t
h
era
p
eu
t
i
c
an
d
d
i
a
g
n
o
s
t
i
c
t
o
o
l
s
fo
r
s
t
ro
k
e
reco
v
er
y
,
"
A
r
ch
Neu
r
o
l
,
v
o
l
.
6
6
,
n
o
.
9
,
p
p
.
1
0
8
6
-
1
0
9
0
,
2
0
0
9
.
[4
]
A
.
D
as
h
,
A
.
Y
ad
a
v
,
A
.
Ch
a
u
h
a
n
,
an
d
U
.
L
ah
i
ri
,
"
K
i
n
ect
-
A
s
s
i
s
t
e
d
Perfo
rman
ce
-
Sen
s
i
t
i
v
e
U
p
p
er
L
i
mb
E
x
e
rci
s
e
Pl
at
f
o
rm
fo
r
Po
s
t
-
s
t
r
o
k
e
Su
r
v
i
v
o
r
s
,
"
F
r
o
n
t
i
er
s
i
n
Neu
r
o
s
ci
en
ce,
v
o
l
.
1
3
,
n
o
.
2
2
8
,
p
p
.
1
-
1
5
,
2
0
1
9
.
[5
]
L
.
V
.
G
au
t
h
i
er
et
al
.
,
"
V
i
d
eo
G
ame
Reh
ab
i
l
i
t
a
t
i
o
n
fo
r
O
u
t
p
a
t
i
e
n
t
S
t
ro
k
e
(
V
IG
o
RO
U
S):
p
ro
t
o
c
o
l
fo
r
a
m
u
l
t
i
-
c
en
t
er
co
mp
ara
t
i
v
e
effect
i
v
e
n
es
s
t
ri
a
l
o
f
i
n
-
h
o
me
g
am
i
fi
ed
c
o
n
s
t
rai
n
t
-
i
n
d
u
ce
d
mo
v
emen
t
t
h
era
p
y
f
o
r
re
h
ab
i
l
i
t
a
t
i
o
n
o
f
c
h
r
o
n
i
c
u
p
p
er
ex
t
rem
i
t
y
h
em
i
p
are
s
i
s
,
"
B
M
C
Neu
r
o
l
o
g
y,
v
o
l
.
1
7
,
n
o
.
1
,
2
0
1
7
.
[6
]
S.
H
.
G
eo
rg
e,
M.
H
.
Rafi
e
i
,
A
.
B
o
rs
t
ad
,
H
.
A
d
e
l
i
,
a
n
d
L
.
V
.
G
au
t
h
i
er,
"
G
ro
s
s
mo
t
o
r
a
b
i
l
i
t
y
p
red
i
ct
s
re
s
p
o
n
s
e
t
o
u
p
p
er
ex
t
rem
i
t
y
reh
ab
i
l
i
t
a
t
i
o
n
i
n
ch
r
o
n
i
c
s
t
ro
k
e,
"
B
eh
a
v
i
o
u
r
a
l
B
r
a
i
n
R
es
e
a
r
c
h
,
v
o
l
.
3
3
3
,
p
p
.
3
1
4
-
3
2
2
,
2
0
1
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
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6930
T
E
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e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
1
8
,
No
.
4
,
Augus
t
2020
:
2080
-
2086
2086
[
7
]
K
.
W
.
L
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,
S
.
B
.
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.
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