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

M. Laribi (1) , A. Decatoire , Giuseppe Carbone (2) , D. Pisla (3) , S. Zeghloul (1)

1 RoBioSS - Robotique, Biomécanique, Sport, Santé [Institut Pprime]
2 LARM - Laboratory of Robotics and Mechantronics
3 CESTER - Research Centre for Industrial Robot Simulation and Testing

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.

Mots clés: Motion capture; Upper limb motion; Ranges of motion; Cable-driven robot; Experimental robotics; Service robotics

Domaines: Mécanique des fluides [physics.class-ph]; Matériaux et structures en mécanique [physics.class-ph]; Acoustique [physics.class-ph]; Automatique / Robotique; Electromagnétisme; Milieux fluides et réactifs; Energie électrique; Thermique [physics.class-ph]; Vibrations [physics.class-ph]; Physique mathématique [math-ph]; Physique Quantique [quant-ph]; Acoustique [physics.class-ph]; Biomécanique [physics.med-ph]; Matériaux; Polymères

M. Laribi, A. Decatoire, Giuseppe Carbone, D. Pisla, S. Zeghloul. Identification of Upper Limb Motion Specifications via Visual Tracking for Robot Assisted Exercising. Advances in Service and Industrial Robotics, pp.93-101, 2019, ⟨10.1007/978-3-030-00232-9_10⟩. ⟨hal-02326242⟩