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Assessment of Upper-Extremity Joint Angles Using Harmony Exoskeleton.

Ana C De Oliveira, James S Sulzer, Ashish D Deshpande

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |April 19, 2021
    PubMed
    Summary

    The Harmony exoskeleton accurately tracks shoulder and arm joint angles during rehabilitation. This robotic system shows potential for objective assessment of complex human upper-extremity movements.

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    Area of Science:

    • Biomechanics
    • Robotics
    • Rehabilitation Engineering

    Background:

    • The human shoulder's complexity hinders objective assessment in sensorimotor rehabilitation.
    • Robotic exoskeletons offer potential for both intervention and assessment due to built-in sensing.

    Purpose of the Study:

    • To characterize the anatomical joint angle tracking accuracy of the bilateral upper-extremity Harmony exoskeleton.
    • To evaluate Harmony's suitability as an assessment tool for sensorimotor rehabilitation.

    Main Methods:

    • Evaluated agreement between Harmony exoskeleton sensor data and optical motion capture markers.
    • Assessed 6 upper-extremity joint angles in 9 healthy participants across 4 motion conditions.
    • Analyzed active/passive motion and trunk constraint effects on joint angle measurements.

    Main Results:

    • Observed good to excellent agreement for shoulder and distal joints (discrepancies 0.43°-16.03°, LoAs 9.44°-41.91°).
    • Regression analysis indicated soft tissue deformation as a primary source of discrepancies.
    • Slopes ranged from 1.03 to 1.43 with correlation coefficients (r) > 0.9 for key joints.

    Conclusions:

    • The Harmony exoskeleton provides accurate measurements of arm and shoulder joint kinematics.
    • Findings support the use of robotic exoskeletons for objective assessment in complex joint rehabilitation.
    • Potential for robot-assisted assessment and intervention in shoulder rehabilitation is highlighted.