In-Vivo Estimation Of Unknown Upper-Limb Kinematic Parameters

The overall goal of our research is to create a low-cost, home-based computer-based tool to monitor and assist the functional recovery of people with Upper Limb (UL) dysfunction. Our framework, implemented in the form of a Networked Virtual Driving Environment, takes advantage of manipulation of an instrumented manipulandum along prescribed movement patterns to create a sensitive and quantitative assessment/diagnostic tool. In this paper, we present the adaptation of kinematic calibration techniques for the continuous and in-vivo estimation of the unknown upper-limb kinematic parameters and joint ranges-of-motion. Simulation studies were conducted on a simplified planar problem and the results demonstrate significant robustness to measurement errors.