Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation
Table 4
ROM and RMSE metrics (mean ± std. dev.) of the angle estimations provided by the Exoskeleton and EIKPE. Values in bold indicate statistically significant differences in the accuracy of the approaches ( value 0.05).
Metric
Exoskeleton
EIKPE
Improvement
RMSE of SFE angle
8.4 ± 4.7
3.9 ± 0.9
53%
ROM error of SFE angle
18.0 ± 11.6
5.7 ± 2.8
68%
RMSE of SAA angle
8.2 ± 4.6
3.3 ± 1.9
60%
ROM error of SAA angle
16.9 ± 10.3
5.6 ± 4.7
67%
RMSE of SIER angle
16.2 ± 6.6
6.5 ± 3.1
60%
ROM error of SIER angle
17.4 ± 12.6
6.9 ± 5.6
60%
RMSE of EFE angle
6.6 ± 1.4
5.8 ± 2.7
13%
ROM error of EFE angle
8.8 ± 5.5
5.7 ± 3.7
35%
Error reduction with respect to the Exoskeleton by using EIKPE.
