Inertial-Robotic Motion Tracking in End-Effector-Based Rehabilitation Robots.

ABSTRACT: End-effector-based robotic systems provide easy-to-set-up motion support in rehabilitation of stroke and spinal-cord-injured patients. However, measurement information is obtained only about the motion of the limb segments to which the systems are attached and not about the adjacent limb segments. We demonstrate in one particular experimental setup that this limitation can be overcome by augmenting an end-effector-based robot with a wearable inertial sensor. Most existing inertial motion tracking approaches rely on a homogeneous magnetic field and thus fail in indoor environments and near ferromagnetic materials and electronic devices. In contrast, we propose a magnetometer-free sensor fusion method. It uses a quaternion-based algorithm to track the heading of a limb segment in real time b

SUBMITTER: Passon A 

PROVIDER: S-EPMC7806092 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature