Inverse kinematics for upper limb compound movement estimation in exoskeleton-assisted rehabilitation

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dc.citation.epage14spa
dc.citation.journalTitleBioMed Research Internationaleng
dc.citation.journalTitleBioMed Research Internationalspa
dc.citation.spage1spa
dc.citation.volume2016spa
dc.contributor.authorCortés, Camilo
dc.contributor.authorDe los Reyes-Guzmán, Ana
dc.contributor.authorScorza, Davide
dc.contributor.authorBertelsen, Álvaro
dc.contributor.authorCarrasco, Eduardo
dc.contributor.authorGil-Agudo, Ángel
dc.contributor.authorRuíz-Salguero, Óscar
dc.contributor.authorFlórez, Julián
dc.contributor.departmentUniversidad EAFIT. Departamento de Ingeniería Mecánicaspa
dc.contributor.researchgroupLaboratorio CAD/CAM/CAEspa
dc.date.accessioned2016-10-21T01:35:33Z
dc.date.available2016-10-21T01:35:33Z
dc.date.issued2016-05-16
dc.description.abstractRobot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury) -- The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement -- The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton -- This approximation is rough since their kinematic structures differ -- Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup -- Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains -- EIKPE has been tested with single DOFmovements of the wrist and elbow joints -- This paper presents the assessment of EIKPEwith elbow-shoulder compoundmovements (i.e., object prehension) -- Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage) -- The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compoundmovement execution, especially for the shoulder joint angles -- This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types --eng
dc.formatapplication/pdfeng
dc.identifier.doi10.1155/2016/2581924
dc.identifier.issn2314-6141
dc.identifier.urihttp://hdl.handle.net/10784/9529
dc.language.isoengeng
dc.publisherHindawi Publishing Corp.spa
dc.relation.ispartofBioMed Research International, Volume 2016, pp 1-14spa
dc.relation.urihttps://www.hindawi.com/journals/bmri/2016/2581924/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.localAcceso abiertospa
dc.subject.keywordRoboticsspa
dc.subject.keywordMedical rehabilitationspa
dc.subject.keywordBiomechanicsspa
dc.subject.keywordExtremities, upperspa
dc.subject.keywordExoskeletonspa
dc.subject.keywordElectromyographyspa
dc.subject.keywordRoboticseng
dc.subject.keywordMedical rehabilitationeng
dc.subject.keywordBiomechanicseng
dc.subject.keywordExtremitieseng
dc.subject.keyworduppereng
dc.subject.keywordExoskeletoneng
dc.subject.keywordElectromyographyeng
dc.subject.keywordCinemática inversa.keywor
dc.subject.lembROBÓTICAspa
dc.subject.lembREHABILITACIÓN MÉDICAspa
dc.subject.lembBIOMECÁNICAspa
dc.subject.lembEXTREMIDADES SUPERIORESspa
dc.subject.lembEXOESQUELETOspa
dc.subject.lembELECTROMIOGRAFÍAspa
dc.titleInverse kinematics for upper limb compound movement estimation in exoskeleton-assisted rehabilitationeng
dc.typeinfo:eu-repo/semantics/articleeng
dc.typearticleeng
dc.typeinfo:eu-repo/semantics/publishedVersioneng
dc.typepublishedVersioneng
dc.type.localArtículospa

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