An IoTEnabled TeleroboticAssisted Healthcare System Based on Inertial Motion Capture Evolution of smart sensing technologies provide an increasingly utilization for IoTenabled healthcare. In the context of the aging population, the demand for elderlyassistant robots is increasing. At the same time, more and more attention has been paid to the more intuitive way of remote humanrobot interaction. In this article, we present the design, implementation, and evaluation of a teleroboticassisted healthcare system with the ability to achieve the remote elderly assistant and healthcare application. In this work, a remote operation interface using wearable inertial motion capture suit is proposed to control the YuMi robot remotely. The motion capture subsystem and the robot control subsystem are all based on robot operation system (ROS) to carry out the distributed design and integration. The robot arm is controlled by the position and orientation data of the operatorxe2x80x99s hand acquired by the motion capture suit. Furthermore, the robotxe2x80x99s gripper is controlled by the finger bending signal acquired by a data glove. The achievement and performance of the introduced system was verified by experiments.

Design and Evaluation of HumanFriendly HandHeld Gaming Interface for RobotAssisted Intuitive Telerehabilitation A testbed gaming interface operated through a handheld mobile device is designed and developed for robotassisted telerehabilitation. In the developed gaming interface, a patient needs to wear sensors (position and forcepressure sensors) at different body parts that measure kinematics and kinetics data during rehabilitation practices through some gamelike activities. The extent of rehabilitation progress is reflected through the magnitudes, patterns and expressions (such as the graphical expressions) of the kinematics and kinetics data. To do so, the kinematics and kinetics raw data are processed in realtime, expressed in different ways and displayed through the interface (e.g., mobile phone) held in the patientxe2x80x99s hand. The patient can monitor the rehabilitation progress through the graphical data expressions via the interface, interact with the display device and the rehabilitation results, and communicate the results to the healthcare providers and the patient community. To make the gaming interface humanfriendly, prior knowledge of human factors involved in the interface is considered when the interface is designed. The assessment method for each human factor is developed, and the interface is implemented and evaluated in a pilot study. The evaluation results show that the handheld gaming interface designed and developed through addressing the human factors is effective to satisfy the human factor requirements in the humandevice interaction, and to make the interaction more humanfriendly. The results can be used to optimize and benchmark the performance of the interface and of the rehabilitation system.