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

Table 3

Method to compute the limb joint angles of interest with the various measuring systems.

Limb joint	Angle	Method to compute the limb joint angles
		MOCAP	EIKPE	Exoskeleton
GH	SFE	Euler angle decomposition of the rotations of the upper arm marker CS with respect to the thorax marker CS (Figure 3)	Euler angle decomposition of the rotations of the upper arm CS with respect to the Exoskeleton reference CS (Figure 6)	Angle of joint 2 (Figure 6)
	SAA			Sum of the angles of joints 0 and 1 (Figure 6)
	SIER			Angle of joint 6 (Figure 6)
Elbow	EFE	Euler angle decomposition of the rotations of the forearm marker CS with respect to the upper arm marker CS (Figure 3)	Euler angle decomposition of the rotations of the forearm CS with respect to the upper arm CS (Figure 6)	Angle of joint 4 (Figure 6)