Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)-A Cable-Based Arm Exoskeleton.

@article{Mao2013RealTimeEO,
  title={Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)-A Cable-Based Arm Exoskeleton.},
  author={Ying Mao and Xin Jin and Sunil K. Agrawal},
  journal={Journal of mechanisms and robotics},
  year={2013},
  volume={6 1},
  pages={
          0145021-145025
        }
}
In the past few years, the authors have proposed several prototypes of a Cable-driven upper ARm EXoskeleton (CAREX) for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center (GH-c) remains stationary in the inertial frame during motion, which leads to inaccuracy in the kinematic model and may hamper training performance. In this paper, we propose a novel approach to estimate GH-c using measurements of shoulder joint angles and cable lengths. This… CONTINUE READING
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