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dc.contributor.authorBadesa, Francisco Javier-
dc.contributor.authorGarcía Aracil, Nicolás-
dc.contributor.authorMorales, Ricardo-
dc.contributor.authorZollo, Loredana-
dc.contributor.authorPapaleo, Eugenia-
dc.contributor.authorSterzi, S.-
dc.contributor.authorMazzoleni, S.-
dc.contributor.authorGuglielmelli, Eugenio-
dc.contributor.otherDepartamentos de la UMH::Ingeniería de Sistemas y Automáticaes_ES
dc.date.accessioned2024-02-07T17:51:00Z-
dc.date.available2024-02-07T17:51:00Z-
dc.date.created2015-
dc.identifier.citationMedical & Biological Engineering & Computing Volume 53, pages 815–828, (2015)es_ES
dc.identifier.issn1741-0444-
dc.identifier.issn0140-0118-
dc.identifier.urihttps://hdl.handle.net/11000/31249-
dc.description.abstractThe paper proposes a novel method for an accurate and unobtrusive reconstruction of the upper-limb kinematics of stroke patients during robot-aided rehabilitation tasks with end-effector machines. The method is based on a robust analytic procedure for inverse kinematics that simply uses, in addition to hand pose data provided by the robot, upper arm acceleration measurements for computing a constraint on elbow position; it is exploited for task space augmentation. The proposed method can enable in-depth comprehension of planning strategy of stroke patients in the joint space and, consequently, allow developing therapies tailored for their residual motor capabilities. The experimental validation has a twofold purpose: (1) a comparative analysis with an optoelectronic motion capturing system is used to assess the method capability to reconstruct joint motion; (2) the application of the method to healthy and stroke subjects during circle-drawing taskswith InMotion2 robot is used to evaluate its efficacy in discriminating stroke from healthy behavior. The experimental results have shown that arm angles are reconstructed with a RMSE of 8.3 × 10−3 rad. Moreover, the comparison between healthy and stroke subjects has revealed different features in the joint space in terms of mean values and standard deviations, which also allow assessing interand intra-subject variability. The findings of this study contribute to the investigation of motor performance in the joint space and Cartesian space of stroke patients undergoing robot-aided therapy, thus allowing: (1) evaluating the outcomes of the therapeutic approach, (2) re-planning the robotic treatment based on patient needs, and (3) understanding pathology-related motor strategies.es_ES
dc.formatapplication/pdfes_ES
dc.format.extent14es_ES
dc.language.isoenges_ES
dc.publisherSpringeres_ES
dc.rightsinfo:eu-repo/semantics/closedAccesses_ES
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectUpper-limb kinematicses_ES
dc.subjectRehabilitation roboticses_ES
dc.subjectStroke rehabilitationes_ES
dc.subject.otherCDU::0 - Generalidades.::04 - Ciencia y tecnología de los ordenadores. Informática.es_ES
dc.titleUpper‑limb kinematic reconstruction during stroke robot‑aided therapyes_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.relation.publisherversionhttps://doi.org/10.1007/s11517-015-1276-9es_ES
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Artículos Ingeniería de Sistemas y Automática


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