Inverse kinematics for upper limb compound movement estimation in exoskeleton-assisted rehabilitation
Data(s) |
20/10/2016
16/05/2016
20/10/2016
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Resumo |
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 -- |
Identificador |
2314-6141 http://hdl.handle.net/10784/9529 10.1155/2016/2581924 |
Idioma(s) |
eng |
Publicador |
Hindawi Publishing Corp. |
Relação |
BioMed Research International, Volume 2016, pp 1-14 https://www.hindawi.com/journals/bmri/2016/2581924/ |
Direitos |
info:eu-repo/semantics/openAccess openAccess Libre acceso |
Palavras-Chave | #Cinemática inversa #ROBÓTICA #REHABILITACIÓN MÉDICA #BIOMECÁNICA #EXTREMIDADES SUPERIORES #EXOESQUELETO #ELECTROMIOGRAFÍA #Robotics #Medical rehabilitation #Biomechanics #Extremities, upper #Exoskeleton #Electromyography |
Tipo |
article info:eu-repo/semantics/article Artículo publishedVersion |
Formato |
application/pdf |