Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study
2016 (English)In: 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), IEEE, 2016, 4469-4476 p.Conference paper (Refereed)
In this paper, we present a novel kinematic framework using hybrid twists, that has the potential to improve the reliability of estimated human shoulder kinematics. This is important as the functional aspects of the human shoulder are evaluated using the information embedded in thoracohumeral kinematics. We successfully demonstrate in our results, that our approach is invariant of the body-fixed coordinate definition, is singularity free and has high repeatability; thus resulting in a flexible user-specific kinematic tracking not restricted to bony landmarks.
Place, publisher, year, edition, pages
IEEE, 2016. 4469-4476 p.
IdentifiersURN: urn:nbn:se:kth:diva-202810ISI: 000391921704074ISBN: 978-1-5090-3762-9 OAI: oai:DiVA.org:kth-202810DiVA: diva2:1079020
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 09-14, 2016, Daejeon, SOUTH KOREA
QC 201703072017-03-072017-03-072017-03-08Bibliographically approved