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Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. Department of Electronics, Mathematics and Natural Sciences, University of Gävle, Gävle, Sweden.ORCID iD: 0000-0002-5970-2985
Department of Electronics, Mathematics and Natural Sciences, University of Gävle, Gävle, Sweden.ORCID iD: 0000-0001-5429-7223
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2078-8854
2016 (English)Conference paper (Refereed)
Abstract [en]

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 flexibleuser-specific kinematic tracking not restricted to bony landmarks.

Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2016.
Keyword [en]
Human movement analysis, Kinematics, Human detection and tracking
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-190090OAI: oai:DiVA.org:kth-190090DiVA: diva2:951189
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Funder
VINNOVA, AAL 2013-6-042
Note

The preprint is for personal use only.

Available from: 2016-08-07 Created: 2016-08-07 Last updated: 2016-09-23Bibliographically approved

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http://www.iros2016.org/

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Rakesh, KrishnanNiclas, BjörsellChristian, Smith
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