Optical Enhancement of Exoskeleton-Based Estimation of Glenohumeral Angles

Table 7

Contributions of this paper w.r.t. comparable works.

Work	Method	Method evaluation	Accuracy of GH joint angles
[20]	IK-based swivel angle estimation	() Studied angles: swivel angle plus the shoulder, elbow, and wrist joint angles; () Reference angles: obtained from custom-made inertial MOCAP; homologation-calibration of the readings is not reported; () Movements: compound movements; () Sensitivity analysis: no	Mean RMSE: 4.8 deg. (best-case scenario)
This paper	Hybrid exoskeleton-optical MOCAP	() Studied angles: shoulder angles; () Reference angles: simulated; () Movements: 1-DOF and multi-DOF shoulder movements; () Sensitivity analysis: method accuracy w.r.t. marker position errors produced by marker drift or calibration errors	(a) Mean RMSE: 0.9 deg. (assuming no marker drift or calibration errors); (b) Mean RMSE: 3.6 deg. (with marker drift or calibration errors up to 20 mm)