title: Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks.
abstract: 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.
authors.affiliation: Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, Spain. abertomeu@umh.es.
authors.forename: Arturo
authors.initials: A
authors.lastname: Bertomeu-Motos
authors.affiliation: Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, Spain. llledo@umh.es.
authors.forename: Luis D
authors.initials: LD
authors.lastname: Lledó
authors.affiliation: Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, Spain. jdiez@umh.es.
authors.forename: Jorge A
authors.initials: JA
authors.lastname: Díez
authors.affiliation: Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, Spain. jose.catalan@goumh.umh.es.
authors.forename: Jose M
authors.initials: JM
authors.lastname: Catalan
authors.affiliation: Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, Spain. sezquerro@umh.es.
authors.forename: Santiago
authors.initials: S
authors.lastname: Ezquerro
authors.affiliation: Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, Spain. fbadesa@umh.es.
authors.forename: Francisco J
authors.initials: FJ
authors.lastname: Badesa
authors.affiliation: Neuro-Bioengineering Research Group, Miguel Hernandez University, Avda. de la Universidad W/N, 03202 Elche, Spain. nicolas.garcia@umh.es.
authors.forename: Nicolas
authors.initials: N
authors.lastname: Garcia-Aracil
mesh_terms: D061725:Accelerometry; D000465:Algorithms; D001696:Biomechanical Phenomena; D006801:Humans; D007596:Joints / Q000502:physiology*; D008328:Man-Machine Systems; D012046:Rehabilitation / Q000295:instrumentation* / Q000379:methods; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D034941:Upper Extremity / Q000502:physiology*; D059015:Wireless Technology / Q000295:instrumentation*
keywords: MARG; end-effector robots; kinematic reconstruction; neuro-rehabilitation; upper limbs