Identification of Upper Limb Motion Specifications via Visual Tracking for Robot Assisted Exercising

被引：5

作者：

Laribi, M. A. ^{[1
]}

Decatoire, A. ^{[1
]}

Carbone, Giuseppe ^{[2
]}

Pisla, D. ^{[3
]}

Zeghloul, S. ^{[1
]}

机构：

[1] Univ Poitiers, CNRS, UPR 3346, Dept GMSC,Pprime Inst,ENSMA, Poitiers, France

[2] Univ Cassino & South Latium, LARM Lab Robot & Mechantron, Via G Di Biasio 43, I-03043 Cassino, Italy

[3] Tech Univ Cluj Napoca, CESTER Res Ctr Ind Robot Simulat & Testing, Cluj Napoca, Romania

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2018 | 2019年 / 67卷

关键词：

Motion capture; Upper limb motion; Ranges of motion; Cable-driven robot; Experimental robotics; Service robotics; REHABILITATION; DESIGN;

D O I：

10.1007/978-3-030-00232-9_10

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：93 / 101

页数：9

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