Subject-Specific Wrist Model Calibration and Application to Ergonomic Design of Exoskeletons

This paper analyzes the accuracy of non-invasive methods to determine subject-specific kinematics of wrist axes based on unrestricted measurements. Adapting methods from the literature, joint parameters are fitted from measurements derived through an in-vivo, non-invasive procedure. This paper analy...

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Bibliographic Details
Published inIEEE sensors journal Vol. 13; no. 9; pp. 3293 - 3301
Main Authors Esmaeili, Mohammad, Guy, Sarah, Dailey, Wayne Denton, Burdet, Etienne, Campolo, Domenico
Format Journal Article
LanguageEnglish
Published IEEE 01.09.2013
Subjects
accuracy
intrinsic kinematic constraints
Subject-specific
unrestricted movement
wrist
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Summary:This paper analyzes the accuracy of non-invasive methods to determine subject-specific kinematics of wrist axes based on unrestricted measurements. Adapting methods from the literature, joint parameters are fitted from measurements derived through an in-vivo, non-invasive procedure. This paper analyzes the accuracy of these fitting methods using a mechanical mock-up, with known geometry and kinematic structure similar to the human wrist, which provides a ground truth for assessment of accuracy. Numerical simulations show that while the range of motion affects the accuracy of parameter estimation, the relative error in the parameters is below 4% for range of motions above 20%. The method was used to fit measurements performed on a human subject and resulting parameters were applied in the design of a subject-specific, ergonomic exoskeleton, which did not significantly alter the natural motor strategies of the subject during a pointing task.
ISSN:1530-437X
1558-1748
DOI:10.1109/JSEN.2013.2271352