Abstract
This paper presents the validation of a marker-less motion capture system used to evaluate the upper limb stress of subjects using exoskeletons for locomotion. The system fuses the human skeletonization provided by commercial 3D cameras with forces exchanged by the user to the ground through upper limbs utilizing instrumented crutches. The aim is to provide a low cost, accurate, and reliable technology useful to provide the trainer a quantitative evaluation of the impact of assisted gait on the subject without the need to use an instrumented gait lab. The reaction forces at the upper limbs’ joints are measured to provide a validation focused on clinically relevant quantities for this application. The system was used simultaneously with a reference motion capture system inside a clinical gait analysis lab. An expert user performed 20 walking tests using instrumented crutches and force platforms inside the observed volume. The mechanical model was applied to data from the system and the reference motion capture, and numerical simulations were performed to assess the internal joint reaction of the subject’s upper limbs. A comparison between the two results shows a root mean square error of less than 2% of the subject’s body weight.
Highlights
About 90,000 persons each year are made dependent on a wheelchair for mobility due to a SpinalCord Injury (SCI) [1]
Our research group worked on the experimentation of a commercial exoskeleton, which is a REwalk personal version (P5), with SpinalCord Injury (SCI) subjects
The experimentation took place in facilities dedicated to the recovery of paraplegic subjects
Summary
About 90,000 persons each year are made dependent on a wheelchair for mobility due to a SpinalCord Injury (SCI) [1]. About 90,000 persons each year are made dependent on a wheelchair for mobility due to a Spinal. Wearable robots were developed to make it possible for people with SCI to walk. In improving the quality and duration of life of people with SCI, and, at the same time, lead to the overall containment of the costs of the health system. Our research group worked on the experimentation of a commercial exoskeleton, which is a REwalk personal version (P5), with SCI subjects. The subjects were trained to use the exoskeleton in gait labs with the support of specialized physiotherapists, acting both as a caregiver and instructor to correct the posture during the walk session. As described in Reference [3], the subjects, after wearing the exoskeleton, were equipped with a pair of crutches that (i) served as an Sensors 2020, 20, 3899; doi:10.3390/s20143899 www.mdpi.com/journal/sensors
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