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Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks


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Título :
Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks
Autor :
Badesa, Francisco Javier
García Aracil, Nicolás
Ezquerro, Santiago
Catalán, José M.
Díez, Jorge A.
Lledó, Luis D.
Bertomeu Motos, Arturo
Editor :
MDPI
Departamento:
Departamentos de la UMH::Ingeniería de Sistemas y Automática
Fecha de publicación:
2015
URI :
https://hdl.handle.net/11000/31244
Resumen :
This paper presents a novel kinematic reconstruction of the human arm chain with five degrees of freedom and the estimation of the shoulder location during rehabilitation therapy assisted by end-effector robotic devices. This algorithm is based on the pseudoinverse of the Jacobian through the acceleration of the upper arm, measured using an accelerometer, and the orientation of the shoulder, estimated with a magnetic angular rate and gravity (MARG) device. The results show a high accuracy in terms of arm joints and shoulder movement with respect to the real arm measured through an optoelectronic system. Furthermore, the range of motion (ROM) of 50 healthy subjects is studied from two different trials, one trying to avoid shoulder movements and the second one forcing them. Moreover, the shoulder movement in the second trial is also estimated accurately. Besides the fact that the posture of the patient can be corrected during the exercise, the therapist could use the presented algorithm as an objective assessment tool. In conclusion, the joints’ estimation enables a better adjustment of the therapy, taking into account the needs of the patient, and consequently, the arm motion improves faster.
Palabras clave/Materias:
kinematic reconstruction
neuro-rehabilitation
end-effector robots
upper limbs
MARG
Área de conocimiento :
CDU: Generalidades.: Ciencia y tecnología de los ordenadores. Informática.
Tipo documento :
application/pdf
Derechos de acceso:
info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
DOI :
https://doi.org/10.3390/s151229818
Aparece en las colecciones:
Artículos Ingeniería de Sistemas y Automática



Creative Commons La licencia se describe como: Atribución-NonComercial-NoDerivada 4.0 Internacional.