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

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 accele...

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Published inSensors (Basel, Switzerland) Vol. 15; no. 12; pp. 30571 - 30583
Main Authors Bertomeu-Motos, Arturo, Lledó, Luis, Díez, Jorge, Catalan, Jose, Ezquerro, Santiago, Badesa, Francisco, Garcia-Aracil, Nicolas
Format Journal Article
LanguageEnglish
Published Switzerland MDPI 04.12.2015
MDPI AG
Subjects
Accelerometry
Algorithms
Biomechanical Phenomena
end-effector robots
Humans
Joints - physiology
kinematic reconstruction
Man-Machine Systems
MARG
neuro-rehabilitation
Rehabilitation - instrumentation
Rehabilitation - methods
Robotics - instrumentation
Robotics - methods
Upper Extremity - physiology
upper limbs
Wireless Technology - instrumentation
upper limbs
kinematic reconstruction
MARG
neuro-rehabilitation
end-effector robots
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Summary: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.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s151229818