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

Table 5

Assessment of estimation methods in terms of the LFM parameters.

Angle	Exoskeleton			EIKPE
	(deg.)			(deg.)
SFE	25.6 ± 6.7	0.35 ± 0.16	0.75 ± 0.13	−0.53 ± 14.3	0.99 ± 0.36	0.83 ± 0.26
SAA	−22.3 ± 19.2	1.69 ± 0.59	0.91 ± 0.16	−0.87 ± 12.3	1.01 ± 0.32	0.91 ± 0.17
SIER	−17.8 ± 42.9	0.85 ± 0.75	0.54 ± 0.26	11.65 ± 11.9	1.23 ± 0.32	0.85 ± 0.18
EFE	10.6 ± 10.7	0.86 ± 0.15	0.94 ± 0.04	7.18 ± 6.6	0.97 ± 0.18	0.96 ± 0.05

Expected (ideal) values of the LFM parameters are , , and .