A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors

Abstract

A B S T R A C TThis paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and internal-external rotation), elbow (flexion-extension and forearm supination-pronation), and wrist (flexion-extension) joints. In addition, the state of the hand (opened-closed). Finaly a PID controller is applied to the exosuit in order to replicate the movements performed by the arm into a 6 DOF robot arm.

Development and Control of an upper Limb Rehabilitation Robot via Ant Colony Optimization -PID and Fuzzy-PID Controllers

“…The suggested controller test has shown high accuracy, smooth operation, and limited-time convergence. To some applications of the PID controller to control the rehabilitation robots, interested readers may refer to literature [11][12][13][14][15][16], to name a few. Other applications of fuzzy logic and optimization algorithms can be found in literature [17][18][19][20][21].…”

Operating Wheelchair Using Flex Sensor

“…This implies that although these methods are available to the disabled, however, satisfaction and command control of the wheelchair is impaired in certain circumstances. Motion capture Systems using flex sensors in robotics has also helped in human locomotion [5]. This paper throws light on the usage of a Flex sensor [6] in a wheelchair to make the functional capacity as near normal as possible.…”