title: Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation.
abstract: Robot-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 DOF movements of the wrist and elbow joints. This paper presents the assessment of EIKPE with elbow-shoulder compound movements (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 compound movement execution, especially for the shoulder joint angles. This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types.
authors.affiliation: eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain; Laboratorio de CAD CAM CAE, Universidad EAFIT, Carrera 49 No. 7 Sur-50, 050022 Medellín, Colombia.
authors.forename: Camilo
authors.initials: C
authors.lastname: Cortés
authors.affiliation: Biomechanics and Technical Aids Department, National Hospital for Spinal Cord Injury, SESCAM, Finca La Peraleda s/n, 45071 Toledo, Spain.
authors.forename: Ana
authors.initials: A
authors.lastname: de Los Reyes-Guzmán
authors.affiliation: eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain.
authors.forename: Davide
authors.initials: D
authors.lastname: Scorza
authors.affiliation: eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain.
authors.forename: Álvaro
authors.initials: Á
authors.lastname: Bertelsen
authors.affiliation: eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain.
authors.forename: Eduardo
authors.initials: E
authors.lastname: Carrasco
authors.affiliation: Biomechanics and Technical Aids Department, National Hospital for Spinal Cord Injury, SESCAM, Finca La Peraleda s/n, 45071 Toledo, Spain.
authors.forename: Ángel
authors.initials: Á
authors.lastname: Gil-Agudo
authors.affiliation: Laboratorio de CAD CAM CAE, Universidad EAFIT, Carrera 49 No. 7 Sur-50, 050022 Medellín, Colombia.
authors.forename: Oscar
authors.initials: O
authors.lastname: Ruiz-Salguero
authors.affiliation: eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain.
authors.forename: Julián
authors.initials: J
authors.lastname: Flórez
mesh_terms: D001696:Biomechanical Phenomena; D000067190:Exoskeleton Device; D006801:Humans; D016059:Range of Motion, Articular / Q000502:physiology; D012046:Rehabilitation / Q000295:instrumentation* / Q000379:methods*; D012815:Signal Processing, Computer-Assisted; D034941:Upper Extremity / Q000502:physiology*