Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation

Table 2

Marker setup for upper limb motion tracking.

Markers on bony landmarks	Markers on body segments
Individual markers are located on the following: (1) Left and right acromion; (2) Right iliac crest; (3) Lateral and medial epicondyles of the right elbow; (4) Radial and ulnar styloid processes of the right wrist; (5) Third metacarpal head of the right hand	Marker clusters (groups of 3 markers) are located on the following: (1) Trunk; (2) Upper arm; (3) Forearm; (4) Hand dorsal; Only the hand cluster is not rigid