Wireless Motion Capture System for Upper Limb Rehabilitation

This work is devoted to the presentation of a Wireless Sensor System implementation for upper limb rehabilitation function as complementary system patient’s progress supervision during exercises. A cost effective motion capture sensor node composed by 9 Degrees-of-Freedom (DoF) Inertial Measurement Unit (IMU) mounted on segments and sends wirelessly corresponding measured signals base station. The orientation individual movement in 3-Dimensional (3D) space are derived processing sensors’ raw data. For latter purpose, biomechanical model which resembles that kinematic robotic arm based Denavit-Hartenberg (DH) configuration used approximate real time movements. joint angles estimated from extracted node’s angles. experimental results human performing common exercises using proposed compared with ones an off-the-shelf sensor. comparison very low error rates root mean square (RMSE) being about 0.02 m.