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Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. Computer Vision and Active Perception Lab, School of Computer Science and Communication, KTH - Royal Institute of Technology, Stockholm, Sweden.ORCID iD: 0000-0002-5970-2985
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.ORCID iD: 0000-0001-5429-7223
Computer Vision and Active Perception Lab, School of Computer Science and Communication, KTH- Royal Institute of Technology.ORCID iD: 0000-0003-2078-8854
2016 (English)In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE Robotics and Automation Society, 2016, 4469-4476 p., 7759658Conference paper, Published 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 shoulderkinematics. This is important as the functional aspects ofthe 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 Robotics and Automation Society, 2016. 4469-4476 p., 7759658
Keyword [en]
Human movement analysis, Kinematics, Human detection and tracking
National Category
Robotics
Identifiers
URN: urn:nbn:se:hig:diva-22193DOI: 10.1109/IROS.2016.7759658ISI: 000391921704074PubMedID: 27295638Scopus ID: 2-s2.0-85006427957ISBN: 978-1-5090-3762-9 (print)OAI: oai:DiVA.org:hig-22193DiVA: diva2:951190
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 9-14 October 2016, Daejeon, Korea
Funder
VINNOVA, AAL 2013-6-042
Note

Accepted paper. This preprint is for personal use only.

(AAL Call 6) AXO-SUIT project

Available from: 2016-08-07 Created: 2016-08-07 Last updated: 2017-03-06Bibliographically approved

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