Arm kinematics estimation with the harmony exoskeleton

摘要

Wearable robots can monitor various aspects of treatment progress that cannot be obtained from observation or typical motion capture devices, and they can provide precise and reliable measurements of parameters related to motion and forces. Here, we present a comparison of human arm kinematics estimated from the Harmony exoskeleton's sensors with a motion capture system. Kinematics estimated using the robot data closely matched the kinematics measured by the motion capture system, and we anticipate that, with a few improvements, Harmony will be able to estimate arm kinematics with accuracy approaching motion capture technology.