Evaluation of Human Motion Reproduction and Trackability for Upper Limb Power Assistance Device by Motion Capture System

Abstract

As the focus of the study in this year，we introduce a method of using a motion capture system to measure and evaluate the motion range of a wearable exoskeleton. The exoskeleton is developed by us for supporting the wearer’s upper extremity． In order to avoid hindering the wearer’s movement and completely achieve all intended upper limb movements, the flexion and extension movements of the elbow and shoulder joints are actively powered to support the wearer while the other two degrees of freedom (DoFs) of the shoulder joints are freely passive． We further demonstrate the experimental results that validate the effectiveness of the power assistance using surface myoelectric potential．