Inverse kinematics for upper limb compound movement estimation in exoskeleton-assisted rehabilitation
Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury) -- The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement -- The economical prevalent method...
- Autores:
-
Cortés, Camilo
De los Reyes-Guzmán, Ana
Scorza, Davide
Bertelsen, Álvaro
Carrasco, Eduardo
Gil-Agudo, Ángel
Ruíz-Salguero, Óscar
Flórez, Julián
- Tipo de recurso:
- Fecha de publicación:
- 2016
- Institución:
- Universidad EAFIT
- Repositorio:
- Repositorio EAFIT
- Idioma:
- eng
- OAI Identifier:
- oai:repository.eafit.edu.co:10784/9529
- Acceso en línea:
- http://hdl.handle.net/10784/9529
- Palabra clave:
- ROBÓTICA
REHABILITACIÓN MÉDICA
BIOMECÁNICA
EXTREMIDADES SUPERIORES
EXOESQUELETO
ELECTROMIOGRAFÍA
Robotics
Medical rehabilitation
Biomechanics
Extremities, upper
Exoskeleton
Electromyography
Robotics
Medical rehabilitation
Biomechanics
Extremities
upper
Exoskeleton
Electromyography
Cinemática inversa
- Rights
- License
- Acceso abierto
| Summary: | Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury) -- The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement -- The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton -- This approximation is rough since their kinematic structures differ -- Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup -- Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains -- EIKPE has been tested with single DOFmovements of the wrist and elbow joints -- This paper presents the assessment of EIKPEwith elbow-shoulder compoundmovements (i.e., object prehension) -- Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage) -- The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compoundmovement execution, especially for the shoulder joint angles -- This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types -- |
|---|