A Motion and Force Analysis System for Human Upper-limb Exercises

摘要

This paper describes a novel system that can demonstrate the potential to track and estimate the torques that affect the human arm of an individual that performs rehabilitation exercises with the use of Kinect v2. The system focuses on eliminating the jerky motions captured by the Kinect with the incorporation of robotic mechanics methodologies that have been applied in the field of robotic mechanical design. In order to achieve this results, the system takes full advantage of the dynamic and kinematic formulas that describe the motion rigid bodies. Lastly, a simulation experiment is depicted to demonstrate the results of the system.