Abstract
This paper deals with the identification of upper limb motion specifications for robot assisted exercising. Motion capture system has been used to track the upper limb motion of a subject with a specific protocol. Two movements have been investigated based on the procedure done by the medical specialists on patients. The experimental analysis focused on the shoulder, leading to range of motion, has been presented and used to reconstruct the upper limb kinematic model. The ability of a cable-driven robot LAWEX, which has been designed and built at LARM to replicate the upper limb motion is discussed.
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Acknowledgements
The paper presents results from the research activities of the project ID 37_215, MySMIS code 103415 “Innovative approaches regarding the rehabilitation and assistive robotics for healthy ageing” co-financed by the European Regional Development Fund through the Competitiveness Operational Programme 2014-2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.
The video tracking research is supported by ROBOTEX, the French national network of robotics platforms (No ANR-10-EQPX-44-01) and by the French National Research Agency (ANR-14-CE27-0016). Authors are also grateful to Kinga Major and Calin Vaida for providing videos of arm exercising.
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Laribi, M.A., Decatoire, A., Carbone, G., Pisla, D., Zeghloul, S. (2019). Identification of Upper Limb Motion Specifications via Visual Tracking for Robot Assisted Exercising. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_10
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DOI: https://doi.org/10.1007/978-3-030-00232-9_10
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