From: Measurement of Upper Limb Range of Motion Using Wearable Sensors: A Systematic Review
First Author | Aim of the study | Brand of Sensors | Sensor fusion algorithm | Placement of sensors | Comparison system | Used same segment tracking | Task(s) | Anatomical Segment(s) | Degrees of Freedom | Movements | Mean error (SD) | RMSE | Correlation coefficients | Calibration | ||
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System | Static | Dynamic | ||||||||||||||
Robert Lachaine et al. [24] | Validate protocol | Xsens | KF | S1: Upper arm S2: Forearm S3: Hand | Optotrak | Yes | Elbow flex/ext, pro/sup; wrist flex/ext, ul/rad deviation, rotation and manual handling tasks | Shoulder Elbow Wrist | 3DOF 3DOF 3DOF | Flex/ext Ab/ad Rotation Flex/ext Ab/ad Pro/sup Flex/ext Rad/ul dev Rotation | Optotrak ISB to Xsens ISB | – | ✓ | – | ||
– | 3.0° 2.9° 2.5° 2.9° 2.0° 2.6° 3.8° 2.8° 3.6° | – | ||||||||||||||
Ligorio et al. [69] | Validate calibration method | YEI technology | – | – | Vicon | Yes | Flex/ext and pro/sup | Elbow | 2DOF 2DOF 2DOF | Flex/ext Pro/supFlex/ext Pro/supFlex/ext Pro/sup | Method A | – | ✓ | ✓ | ||
– | 8.5–11.1° 11.9–13.3° | – | ||||||||||||||
Method B | ||||||||||||||||
– | 3.4–3.6° 6.8–7.6° | – | ||||||||||||||
Method C – Proposed | ||||||||||||||||
– | 3.1–3.3° 3.8–4.0° | – | ||||||||||||||
Fantozzi et al. [45] | Validate protocol | Opal | KBF | S1: Flat portion of the sternum. S2: Laterally on the humerus above the centre and posteriorly. S3: Distal forearm above the ulnar and radial styloid. S4: Back of the hand. | Stereo-photogrammetric system (SMART-DX 7000) | Yes | Simulated front crawl | Shoulder Elbow Wrist | 3DOF 2DOF 2DOF | Flex/ext Ab/ad In/ext rot Flex/ext Pro/sup Flex/ext Rad/ul dev | – | 5.0° (4–6) 10.0° (7–11) 7.0° (5–8) 15° (12–17) 10.0° (7–11) 5.0° (4–5) 3.0° (2–4) | 0.99 0.97 0.99 0.95 0.93 0.95 0.90 | – | ✓ | – |
Simulated breaststroke | Shoulder Elbow Wrist | 3DOF 2DOF 2DOF | Flex/ext Ab/ad In/ext rot Flex/ext Pro/sup Flex/ext Rad/ul dev | – | 5.0° (3–7) 3.0° (3–4) 8.0° (5–10) 6.0° (5–10) 5.0° (4–7) 4.0° (3–5) | - 0.99 0.99 0.98 0.97 0.98 0.93 | ||||||||||
Gil-Agudo et al. [30] | Validate protocol | Xsens | KF | S1: Trunk S2: Back of the head S3: Right arm S4: Distal forearm S5: Hand. | CODA | Yes | Shoulder rot, flex/ext and ab/ad; elbow flex/ext and pro/sup, wrist flex/ext and ul/rad deviation. | Shoulder Elbow Wrist | 3DOF 2DOF 2DOF | Flex/ext Ab/ad In/ext rot Flex/ext Pro/sup Flex/ext Rad/ul dev | 0.76° (4.4) 0.69° (10.47) 0.65° (5.67) 0.54° (2.63) 5.16° (4.5) 3.47° (9.43) 2.19° (4.64) | – | – | – | – | ✓ |
Miezal et al. [15] | Validate sensor fusion/algorithm | Xsens | EKF, WLS | Not described | Natural Point Optitrack system 13 cameras | Yes | Eight-shaped movements at varied speeds, smooth parts imitating reaching and steering in the case of real-slow, and agile parts with quick starts and stops, as well as, parts reminding of sportive movements, such as boxing, in the case of real fast | Shoulder Elbow Wrist | 1DOF 1DOF 1DOF | – | Chaintracker (real fast w/mag) | – | ✓ | – | ||
9.38° (5.79) 11.91° (6.27) 7.37° (4.60) | – | – | ||||||||||||||
Shoulder Elbow Wrist | 1DOF 1DOF 1DOF | – | Chaintracker (real slow w/mag) | |||||||||||||
4.76° (2.24) 8.83° (4.64) 4.72° (2.61) | – | – | ||||||||||||||
Shoulder Elbow Wrist | 1DOF 1DOF 1DOF | – | Optitracker (real fast w/mag) | |||||||||||||
1.88° (0.91) 2.22° (1.38) 2.28° (1.15) | – | – | ||||||||||||||
Shoulder Elbow Wrist | 1DOF 1DOF 1DOF | – | Optitracker (real fast w/mag) | |||||||||||||
1.27° (0.81) 2.16° (1.35) 2.32° (1.37) | – | – | ||||||||||||||
Lambretcht et al. [62] | Validate sensor fusion/algorithm | Custom | DMP algorithm | S1: Sternum S2: Upper arm S3: Distal forearm S4: Hand | Optotrak | Yes | Reaching movements | Shoulder Elbow Wrist | 3DOF 2DOF 2DOF | Azimuth Elev Int rot Flex Pro Flex/Ext Dev | – | 4.9° 1.2° 2.9° 7.9° 1.5° 5.5° 2.6° | 0.99 0.99 0.99 0.99 0.99 0.97 0.94 | ✓ | – | – |
Zhang et al. [34] | Validate sensor fusion/algorithm | Xsens | UKF | S1: Sternum S2: Lateral side above the elbow S3: Lateral and flat side of the forearm near the wrist | BTS SMART-D optoelectronic tracking system | Yes | Move the upper limb arbitrarily. | Shoulder Elbow | 3DOF 2DOF | Flex/ext Ab/ad Int/ext rot Flex/ext Pro/sup | Independent Estimation | – | ✓ | – | ||
0.070° (0.083) 0.023° (0.042) 0.061° (0.061) 0.052° (0.155) 0.321° (0.265) | 0.11° 0.04° 0.08° 0.16° 0.41° | 0.99 0.99 0.99 0.81 0.96 | ||||||||||||||
Shoulder Elbow | 3DOF 2DOF | Flex/ext Ab/ad Int/ext rot Flex/ext Pro/sup | Constraints method | |||||||||||||
0.040° (0.039) 0.013° (0.018) 0.029° (0.032) 0.046° (0.100) 0.155° (0.143) | 0.05° 0.02° 0.04° 0.11° 0.21° | 0.99 0.99 0.99 0.88 0.96 | ||||||||||||||
Shoulder Elbow | 3DOF 2DOF | Flex/ext Ab/ad Int/ext rot Flex/ext Pro/sup | Papers proposed method | |||||||||||||
0.028° (0.029) 0.007° (0.013) 0.035° (0.036) 0.054° (0.093) 0.168° (0.153) | 0.04° 0.01° 0.05° 0.10° 0.22° | 0.99 0.99 0.99 0.89 0.96 | ||||||||||||||
Morrow et al. [42] | Validate protocol | Opal | – | Bilateral: S1: Lateral aspect upper arms S2: Forearms | Raptor 12 Digital Real-time Motion Capture System | No | Peg transfer task using straight laparoscopic surgical instruments. | Shoulder Elbow | 1DOF 1DOF | Elevation Flexion | 3.0° (2.1) 2.2° (1.6) | 6.8° (2.7) 8.2° (2.8) | – | – | ✓ | ✓ |
Callegas-Cuerro et al. [59] | Validate protocol | Invensense MPU-9150 | KF | S1: External arm aligned with the humerus. S2: Between the radial styloid and ulnar styloid, aligned with external part of the hand. | Qualisys Oqus 5 | No | Flex/ext | Elbow | 1DOF | Flex/ext | < 3.0° to < 5.0° | 2.44% | – | – | ✓ | ✓ |
Meng et al. [56] | Validate protocol | Shimmer | KF | Not described | Vicon Mocap System | No | (1) Raise shoulder. (2) Move shoulder right then left. (3) Clockwise axial rotation to its max, then rotate the upper arm counter clockwise. (4) Elbow extension move into flexion. | Shoulder Elbow | 3DOF 2DOF | Flex/ext Ab/ad In/ext rot Flex/ext Pro/sup | 0.50° (1.79) 0.18° (1.34) 0.16° (1.96) 1.86° (1.85) 1.22° (2.87) | 1.85° 1.35° 1.96° 2.62° 3.12° | – | ✓ | – | – |
Cifuentes et al. [81] | Validate protocol | Custom | – | S1: Arm S2: Forearm | Optical tracking system | No | Reaching and grasping from the rest position with the forearm on the table, at angle of approximately 90° with respect to the arm before reaching and grasping an object, and then returning it to starting position. | Elbow | 1DOF | Flex/ext | No discrete data reported only figures of continuous data | – | – | – | ||
Muller et al. [22] | Validate sensor fusion/algorithm | Xsens | KF* | S1: Thorax. S2: Lateral side of the arm S3: Posterior side of the wrist | Vicon | No | (1) Flex/ext in a horizontal plane with the shoulder abducted 90° flex/ext in a sagittal plane while standing with the elbow close to the trunk. (2) Flex/ext in a sagittal plane with the spine bent forward 90° and the upper arm aligned horizontally and parallel to the ground sup/pro with the elbow flexed 90° | Elbow Elbow | 2DOF 2DOF | Flex/ext Pro/sup Flex/ext Pro/sup | Proposed algorithm | ✓ | ✓ | – | ||
– | 2.7° 3.8° | – | ||||||||||||||
Manual alignment | ||||||||||||||||
– | 3.8° 8.7° | – | ||||||||||||||
Bertomu-Motos et al. [55] | Validate sensor fusion/algorithm | Shimmer | EKF | S1: Shoulder S2: Upper arm | Optitrack | No | The activity consisted of taking a box from the perimeter and placing it in the centre of the screen. | Shoulder | 5DOF | Unclear | Without compensation Filter | – | – | – | ||
5.24° (3.38) 0.5° (1.6) 3.6° (2.1) 1.8° (1.0) 1.60° (0.6) | – | – | ||||||||||||||
Shoulder | 5DOF | Unclear | Compensation filter | |||||||||||||
1.69° (2.1) 1.1° (0.8) 5.9° (2.3) 2.6° (1.7) 0.9° (1.2) | – | – | ||||||||||||||
Karunarathne et al. [68] | Validate sensor fusion/algorithm | BioKin WMS | KF* | S1: Near the elbow S2: Wrist | Vicon | No | Lifting a water bottle | Elbow | 1DOF | Flex/ext | High-pass filte—gyroscope | – | – | – | ||
– | 10.18° | – | ||||||||||||||
Elbow | 1DOF | Flex/ext | Low-pass filter—accelerations | |||||||||||||
– | 18.30° | – | ||||||||||||||
Elbow | 1DOF | Flex/ext | Tradition complementary filter | |||||||||||||
– | 10.30° | – | ||||||||||||||
Elbow | 1DOF | Flex/ext | Adaptive complementary filter | |||||||||||||
– | 8.77° | – | ||||||||||||||
El-Gohary et al. [50] | Validate Sensor fusion/algorithm | Opal | UKF | S1: Upper arm S2: Forearm | Vicon motion analysis system | No | Single movements: Shoulder flex/ext, ab/ad, Elbow flex/ext and forearm sup/pro. | Shoulder Elbow | 2DOF 2DOF | Flex/ext Ab/ad Flex/ext Pro/sup | – | 5.5° 4.4° 6.5° 0.95° | 0.98 0.99 0.98 0.95 | – | ✓ | |
Complex tasks: (1) touching nose and (2) reaching for door | Shoulder Elbow | 1DOF 1DOF | – | 9.8° 8.8° | 6.5° 5.5° | 0.94 0.95 | ||||||||||
El-Gohary et al. [51] | Validate Sensor fusion/algorithm | Opal | UKF | S1: Between the shoulder and elbow S2: Near the wrist | Eagle Analog System, Motion Analysis | No | Single movements at different speeds: Shoulder flex/ext, ab/ad, Elbow flex/ext, sup/pro | Shoulder Elbow | 2DOF 2DOF | Flex/ext Ab/ad Flex/ext Pro/sup | Normal speed | – | – | – | ||
– | – | 0.97 0.94 0.92 0.96 | ||||||||||||||
Shoulder Elbow | 2DOF 2DOF | Flex/ext Ab/ad Flex/ext Pro/sup | Fast speed | |||||||||||||
0.94 0.91 0.89 0.93 | ||||||||||||||||
Perez et al. [39] | Validate sensor fusion/algorithm | Xsens | – | S1: Back S2: 18 cm from acromion S3: 25 cm from epicondyle S4: 5.5 cm from distal radio-cubital joint. | BTS SMART-D optoelectronic tracking system | No | Single movements: Shoulder flex/ ext, horizontal ab/ad, and internal rotation. Elbow flex, pro/sup and wrist flex/ext. | Shoulder Elbow Wrist | 3DOF 2DOF 1DOF | Flex/ext Ab/ad In rot Flex Pro/sup Flex/ext | 13.4° 17.2° 60.4° 5.8° 24.1° 11.6° | – | 0.99 0.71 0.99 0.98 0.96 0.98 | ✓ | – | – |
Pouring water from a glass jar into a glass | Shoulder Elbow Wrist | 3DOF 2DOF 1DOF | Flex/ext Ab/ad In rot Flex/ext Pro/sup Flex/ext | 13.8° 7.4° 28.8° 18.6° 11.7° 26.8° | – | 0.99 0.90 0.85 0.97 0.92 0.92 | ||||||||||
Zhou et al. [37] | Validate sensor fusion/algorithm | Xsens | KF | S1: Lateral aspect of upper arm between the lateral epicondyle and the acromion process (5 cm from the AP) S2: Wrist centre on the palmer aspect | CODA | No | Reaching, shrugging, forearm rotation | Elbow | 2DOF | Flex/ext Rot | 0.4° (2.34) 0.06° (4.82) | 2.4° 4.8° | – | – | ✓ | – |
Luinge et al. [41] | Validate sensor fusion/algorithm | Xsens | KF | S1: Lateral upper arm near the elbow S2: Dorsal side of the forearm near the wrist. | Vicon | No | (1) Mimicking eating routines (pouring a glass eating soup, eating spaghetti, eating meat, drinking). (2) Mimicking morning routines (splashing water on face and drying it using a towel, applying deodorant, buttoning a blouse, combing hair, brushing teeth). | Elbow | 2DOF | – | No discreet data reported | – | ✓ | ✓ | ||
Peppoloni et al. [57] | Validate kinematic model | Shimmer | UKF | S1: Scapula beside the angulus acromialis S2: Lateral side of the upper arm above the elbow. S3: Lateral side of forearm a few centimetres far from the wrist. | Vicon | No | Single movements: Scapula elev/dep, ante-position/retro-position. Shoulder flex/ext, ab/ad, and int/ext rotation. Elbow flex/ext, pro/sup. | 7DOF model | – | ✓ | ✓ | |||||
Scapula Shoulder Elbow | 2DOF 3DOF 2DOF | Elev/dep Prof/retr Flex/ext Ab/ad In/ext rot Flex/ext Pro/sup | – | 6.19° 3.43° 8.19° 10.68° 8.79° 5.00° 9.61° | 0.65 0.74 0.94 0.63 0.97 0.99 0.85 | |||||||||||
5DOF model | ||||||||||||||||
Shoulder Elbow | 3DOF 2DOF | Flex/ext Ab/ad In/ext rot Flex/ext Pro/sup | – | 7.03° 6.03° 4.95° 9.93° 11.29° | 0.95 0.87 0.99 0.98 0.85 | |||||||||||
Robert-Lachaine et al. [25] | Validate calibration method | Xsens | KF | – | Optotrak | No | Single plane movements | – | – | – | No discrete data reported | – | – | – | ||
Bouvier et al. [23] | Validate calibration method | Xsens | KF | S1: Sternum S2: Central third of upper arm laterally (or slightly posterior) S3: Dorso-distally on the forearm S4: Dorsum hand | Eagle 4 Optoelectric system | No | Move through 9 calibration trials for each joint. | Shoulder Elbow Wrist | 3DOF 2DOF 2DOF | Flex/ext Ab/Ad Wheel Flex/ext Pro/sup Flex/ext Ab/sd | – – – – – – | – – – 20.46° 14.76° 14.21° 13.9° | – – – 0.84 0.94 0.93 0.68 | – | ✓ | ✓ |