Human arm joints reconstruction algorithm in rehabilitation therapies assisted by end-effector robotic devices.
Journal:
Journal of neuroengineering and rehabilitation
Published Date:
Feb 20, 2018
Abstract
BACKGROUND: End-effector robots are commonly used in robot-assisted neuro-rehabilitation therapies for upper limbs where the patient's hand can be easily attached to a splint. Nevertheless, they are not able to estimate and control the kinematic configuration of the upper limb during the therapy. However, the Range of Motion (ROM) together with the clinical assessment scales offers a comprehensive assessment to the therapist. Our aim is to present a robust and stable kinematic reconstruction algorithm to accurately measure the upper limb joints using only an accelerometer placed onto the upper arm.