Table 2 List of the 8 articles organised by first author and containing information related to the validation of wearable sensors for the measurement of joint angle for simulated movements of the upper limb when compared to a robotic device
From: Measurement of Upper Limb Range of Motion Using Wearable Sensors: A Systematic Review
First author | Aim of the study | Brand of wearable sensors | Description of robotic device | Sensor fusion algorithm | Calibration | Segment(s) | DOFs | Simulated movements | RMSE | Mean error (SD) | ||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
System | Static | Dynamic | ||||||||||||
Callejas–Cuervo et al. [59] | System validation | Invensense MPU-9150 | Industrial robotic arm (ABB IRB 120) | KF | – | ✓ | – | Elbow | 1DOF | Flex/ext | 2.12–2.44° | – | ||
Chang et al. [77] | System validation | Custom | Rehabotics Medical Technology Corporation | – | – | – | – | Finger | 1DOF | Flex/ext | 5–7° | – | ||
Alvarez et al. [28] | System validation | Xsens | Pan and tilt unit (Model PTU-D46) | – | – | ✓ | – | Wrist | 2DOF | Flex Lat dev | − − | 0.06° (9.20) 1.05° (2.18) | ||
Alvarez et al. [31] | System validation | Xsens | Pan and tilt unit (Model PTU-D46) | – | – | ✓ | – | Wrist | 2DOF | Flex Lat dev | − − | 1.8° for each axis, with a max error ± 6° | ||
Rodriguez-Angleseet et al. [35] | System validation | Xsens | Plantar robot | KF | – | ✓ | – | Elbow | 2DOF | – | Did not report discrete statistics | |||
Kirking et al. [46] | Validation/comparison of sensor fusion methods | Opal | Industrial Epson C3 robot arm | UKF | – | ✓ | – | Shoulder Elbow Forearm Wrist | 2DOF 1DOF 1DOF 2DOF | Int/ext rot Flex/ext Flex/ext Pro/sup Flex/ext Twist | 8.1° 2.4° 2.6° 2.1° 2.2° 3.9° | – – – – – – | ||
Modified UKF | – | ✓ | – | Shoulder Elbow Forearm Wrist | 2DOF 1DOF 1DOF 2DOF | Int/ext rot Flex/ext Flex/ext Pro/sup Flex/ext Twist | 3.0° 1.6° 2.0° 1.2° 1.5° 2.8° | – – – – – – | ||||||
Ricci et al. [47] | Validation/comparison of sensor fusion methods | Opal | LWR 4+ (KUKA GmbH) | KF | – | ✓ | Shoulder Elbow Forearm Wrist | 7DOF | – | Unable to determine exact values from box plot | ||||
GNF | – | ✓ | – | Shoulder Elbow Forearm Wrist | 7DOF | – | ||||||||
El-Gohary et al. [48] | Validation/comparison of sensor fusion methods | Opal | Not described | UKF | – | ✓ | – | Shoulder Elbow Forearm Wrist | 2DOF 1DOF 1DOF 2DOF | In/ext rot Flex/ext Flex/ext Pro/sup Flex/ext Twist | Slow | Med | Fast | – – – – – – |
7.8° 0.8° 0.9° 1.3° 1.1° 1.7° | 3.0° 1.6° 2.0° 1.2° 1.5° 2.8° | 5.9° 2.5° 2.8° 1.1° 1.8° 2.2° | ||||||||||||
EKF | – | ✓ | – | Shoulder Elbow Forearm Wrist | 2DOF 1DOF 1DOF 2DOF | In/ext rot Flex/ext Flex/ext Pro/sup Flex/ext Twist | 8.8° 1.2° 1.3° 0.8° 1.2° 1.8° | 8.6° 1.9° 2.1° 1.4° 1.9° 3.7° | 9.7° 2.5° 3.1° 1.4° 2.9° 3.4° | – – – – – – | ||||