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

Sensors

Arturo Bertomeu-Motos¹  Luis D. Lledó²  Jorge A. Dໞz²  Jose M. Catalan²  Santiago Ezquerro²  Francisco J. Badesa²  Nicolas Garcia-Aracil² 

[1] Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, Spain

关键词: kinematic reconstruction;    neuro-rehabilitation;    end-effector robots;    upper limbs;    MARG;   

DOI  :  10.3390/s151229818

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.