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dc.date.available2016-09-26T16:21:46Z
dc.date.issued2016-05-16
dc.identifier.issn1754-2103spa
dc.identifier.urihttp://hdl.handle.net/10784/9203
dc.descriptionIn Robot-Assisted Rehabilitation (RAR) the accurate estimation of the patient limb joint angles is critical for assessing therapy efficacy. In RAR, the use of classic motion capture systems (MOCAPs) (e.g., optical and electromagnetic) to estimate the Glenohumeral (GH) joint angles is hindered by the exoskeleton body, which causes occlusions and magnetic disturbances. Moreover, the exoskeleton posture does not accurately reflect limb posture, as their kinematic models differ. To address the said limitations in posture estimation, we propose installing the cameras of an optical marker-based MOCAP in the rehabilitation exoskeleton. Then, the GH joint angles are estimated by combining the estimated marker poses and exoskeleton Forward Kinematics. Such hybrid system prevents problems related to marker occlusions, reduced camera detection volume, and imprecise joint angle estimation due to the kinematic mismatch of the patient and exoskeleton models. This paper presents the formulation, simulation, and accuracy quantification of the proposed method with simulated human movements. In addition, a sensitivity analysis of the method accuracy to marker position estimation errors, due to system calibration errors and marker drifts, has been carried out. The results show that, even with significant errors in the marker position estimation, method accuracy is adequate for RAR.spa
dc.formatapplication/pdf
dc.language.isoengspa
dc.publisherHindawi Publishing Corp.spa
dc.relation.isversionofhttp://www.ncbi.nlm.nih.gov/pubmed/27403044spa
dc.titleOptical Enhancement of Exoskeleton-Based Estimation of Glenohumeral Anglesspa
dc.typearticlespa
dc.typeinfo:eu-repo/semantics/publishedVersioneng
dc.typeinfo:eu-repo/semantics/articleeng
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.type.localArtículospa
dc.rights.localAcceso abiertospa
dc.date.accessioned2016-09-26T16:21:46Z
dc.type.hasVersionObra publicadaspa
dc.type.hasVersionpublishedVersionspa
dc.contributor.authorFlorez, Julian
dc.contributor.authorCortéz, Camilo
dc.contributor.authorUnzueta, Luis
dc.contributor.authorDe los Reyes-Guzmán, Ana
dc.contributor.authorRuíz, Óscar E.
dc.citation.journalTitleApplied Bionics and Biomechanicsspa
dc.citation.volume2016spa
dc.citation.spage1spa
dc.citation.epage20spa
dc.identifier.doi10.1155/2016/5058171spa
dc.contributor.affiliationUniversidad EAFIT. Departamento de Ingeniería Mecánica. Grupo de Investigación CAD CAM CAE, Carrera 49 7 Sur-50, Medellín, Colombia.spa
dc.contributor.programCAD/CAM/CAEeng


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