A Method for measuring the upper limb motion and computing a compatible exoskeleton trajectory

Abstract

This paper deals with the problem of computing trajectories for an exoskeleton that match a motion recorded on a given subject. Literature suggests that this problem can be solved by reconstructing the subject's joint motion using one of the numerous models available, and then feeding the exoskeleton with the joint trajectories. This is founded on the assumption that the exoskeleton kinematics reproduces the human kinematics. In practice, though, mismatches are unavoidable and lead to inaccuracies. We thus developed a method that is primarily based on an appropriate mechanical design: passive mechanisms are used to connect the exoskeleton with splints wore by the subject, in such a way that,..