Human arm kinematics for robot based rehabilitation

Authors:
Matjaž Mihelj
Affiliations:
Faculty of Electrical Engineering, University of Ljubljana, Tržaška c. 25, SI-1000 Ljubljana (Slovenia) E-mail: matjaz.mihelj@robo.fe.uni-lj.si
Venue:
Robotica
Year:
2006

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Abstract

The paper considers a technique for computation of the inverse kinematic model of the human arm for robot based rehabilitation that uses measurements of the hand position and orientation and radial acceleration of the upper arm. Analytical analysis and empirical validation of the method are presented. The algorithm enables estimation of human arm angles, which can be used in trajectory planning for rehabilitation robots, evaluation of motion of patients with movement disorders, and generation of virtual reality environments.