An extended kinematic model for arm rehabilitation training and assessment

Wang, Kui; Li, Siyi; Xu, Chang; Yu, Ningbo

doi:10.1109/icarm.2016.7606905

Cited by 2 publications

(1 citation statement)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Motion tracking and kinematic analysis come all the way with robotic neurorehabilitation treatment and humanrobot interaction [6], [7]. Evaluation of upper extremity kinematics in both Cartesian and joint space and ergonomic design of robotic exoskeletons are fundamentally based on accurate skeletal modeling [8], [9]. In specific, modeling and quantification of wrist kinematics are challenging due to the articulation of eight carpal bones and anatomical variability within carpus.…”

Section: Introductionmentioning

confidence: 99%

An Improved Wrist Kinematic Model for Human-Robot Interaction

Yu,

2020

Preprint

Self Cite

View full text Add to dashboard Cite

Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic model is oversimplified with intrinsic inaccuracies and its biomechanical model is too complicated for robotic applications. In this work, we establish an improved kinematic model of the wrist. In vivo kinematic behavior of the wrist was investigated through noninvasive marker-less optical tracking. Data analysis demonstrated the existence of measurable dynamic axes in carpal rotation, justifying inevitable misalignment between the wrist and robotic representation if using the conventional wrist model. A novel wrist kinematic model was then proposed with rigid body transformation in fusion with a varying prismatic term indicating the dynamic axes location. Accurate and realtime estimation of this term has been achieved through coupled wrist angles with nonlinear regression. The proposed model is not only accurate but also conveniently applicable for translating anatomical behaviors into robotic implementation and functional assessment for precise and dexterous humanrobot interaction.

show abstract