Identification of Upper Limb Motion Specifications via Visual Tracking for Robot Assisted Exercising

International audienceThis paper deals with the identification of upper limb motion specifications for robot assisted exercising. Motion capture system has been used to track the upper limb motion of a subject with a specific protocol. Two movements have been investigated based on the procedure done by the medical specialists on patients. The experimental analysis focused on the shoulder, leading to range of motion, has been presented and used to reconstruct the upper limb kinematic model. The ability of a cable-driven robot LAWEX, which has been designed and built at LARM to replicate the upper limb motion is discussed