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

Table 6

Global estimation performance metrics.

Error metric	Exoskeleton	EIKPE	Improvement
Global angle RMSE (deg.)	10.5	5.1	52%
Global ROM error (deg.)	15.3	6.0	60%
MAE in parameter (deg.)	24.5	10.1	59%
MAE in parameter	0.52	0.22	57%
MAE in parameter	0.21	0.11	49%

Error reduction with respect to the Exoskeleton by using EIKPE.