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To ensure that a rehabilitation exercise performed with an exoskeleton is carried out safely and effectively, it is crucial to understand the upper limb kinematics during such use. Because it is impractical to assess these using motion capture and analysis tools during rehabilitation, this abstract presents two models for estimating them based on data extracted from the exoskeleton and then compares their results to measured kinematics. Compared to previous work, one of the models provided here exhibits lower deviation from measured data with only -0.21° ± 2.73° variation when examining the elbow joint alone and -2.84° ± 7.12° deviation when examining all joints. This model appears to be more suited for our needs as it takes approximately 24 times less time to compute.

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Preliminary Work: Exoskeleton Based Upper Limb Posture Estimation

  • 会议论文

  • 发表日期：

    2025年

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  • J. Peladeau,
  • P. Toulemonde,
  • P. Garrec,
  • S. Laporte,
  • X. Bonnet

摘要

To ensure that a rehabilitation exercise performed with an exoskeleton is carried out safely and effectively, it is crucial to understand the upper limb kinematics during such use. Because it is impractical to assess these using motion capture and analysis tools during rehabilitation, this abstract presents two models for estimating them based on data extracted from the exoskeleton and then compares their results to measured kinematics. Compared to previous work, one of the models provided here exhibits lower deviation from measured data with only -0.21° ± 2.73° variation when examining the elbow joint alone and -2.84° ± 7.12° deviation when examining all joints. This model appears to be more suited for our needs as it takes approximately 24 times less time to compute.