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...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2015-12-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/15/12/29818 |
| _version_ | 1798003466236329984 |
|---|---|
| author | Arturo Bertomeu-Motos Luis D. Lledó Jorge A. Díez Jose M. Catalan Santiago Ezquerro Francisco J. Badesa Nicolas Garcia-Aracil |
| author_facet | Arturo Bertomeu-Motos Luis D. Lledó Jorge A. Díez Jose M. Catalan Santiago Ezquerro Francisco J. Badesa Nicolas Garcia-Aracil |
| author_sort | Arturo Bertomeu-Motos |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T12:08:04Z |
| format | Article |
| id | doaj.art-0f5f2f9693ac4e7c84b0bf0be3c14260 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:08:04Z |
| publishDate | 2015-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-0f5f2f9693ac4e7c84b0bf0be3c142602022-12-22T04:24:40ZengMDPI AGSensors1424-82202015-12-011512305713058310.3390/s151229818s151229818Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation TasksArturo Bertomeu-Motos0Luis D. Lledó1Jorge A. Díez2Jose M. Catalan3Santiago Ezquerro4Francisco J. Badesa5Nicolas Garcia-Aracil6Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, SpainNeuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, SpainNeuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, SpainNeuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, SpainNeuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, SpainNeuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, SpainNeuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, SpainThis 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.http://www.mdpi.com/1424-8220/15/12/29818kinematic reconstructionneuro-rehabilitationend-effector robotsupper limbsMARG |
| spellingShingle | Arturo Bertomeu-Motos Luis D. Lledó Jorge A. Díez Jose M. Catalan Santiago Ezquerro Francisco J. Badesa Nicolas Garcia-Aracil Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks Sensors kinematic reconstruction neuro-rehabilitation end-effector robots upper limbs MARG |
| title | Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks |
| title_full | Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks |
| title_fullStr | Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks |
| title_full_unstemmed | Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks |
| title_short | Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks |
| title_sort | estimation of human arm joints using two wireless sensors in robotic rehabilitation tasks |
| topic | kinematic reconstruction neuro-rehabilitation end-effector robots upper limbs MARG |
| url | http://www.mdpi.com/1424-8220/15/12/29818 |
| work_keys_str_mv | AT arturobertomeumotos estimationofhumanarmjointsusingtwowirelesssensorsinroboticrehabilitationtasks AT luisdlledo estimationofhumanarmjointsusingtwowirelesssensorsinroboticrehabilitationtasks AT jorgeadiez estimationofhumanarmjointsusingtwowirelesssensorsinroboticrehabilitationtasks AT josemcatalan estimationofhumanarmjointsusingtwowirelesssensorsinroboticrehabilitationtasks AT santiagoezquerro estimationofhumanarmjointsusingtwowirelesssensorsinroboticrehabilitationtasks AT franciscojbadesa estimationofhumanarmjointsusingtwowirelesssensorsinroboticrehabilitationtasks AT nicolasgarciaaracil estimationofhumanarmjointsusingtwowirelesssensorsinroboticrehabilitationtasks |