Posture similarity index: a method to compare hand postures in synergy space

A novel cost-effective postural tracking algorithm using marker-based video processing

Recently, many postural analysis techniques have been developed in order to reduce the risk of musculoskeletal problems. Methods such as rapid entire body assessment are capable of analyzing the most constant or awkward positions, but the selection of these postures is subjective. To make an objective postural analysis, devices such as electromagnetic trackers can be used continuously during the job task, but utilizing such devices is costly. Therefore, in this study a cost-effective marker-based video processing algorithm is developed for measuring three-dimensional (3D) information regarding both the location and the orientation of human posture. To investigate the precision of the measurements, an experiment was designed. With the average of 2.88 mm and 1.34° for location and orientation, respectively, the algorithm was able to measure six degrees of freedom information regarding 3D space. Furthermore, the precision of the algorithm is found to be significantly affected by the marker pattern.

Bio-inspired tendon driven mechanism for simultaneous finger joints flexion using a soft hand exoskeleton

A new tendon driven mechanism, embedded into a soft hand exoskeleton for rehabilitation and assistance, was proposed in this study. The proposed solution was a pulley flexion mechanism inspired by the human musculoskeletal system to enable a natural and comfortable finger flexion. A biomechanical constraint for the finger flexion motion states that the relation between the proximal interphalangeal joint angle of the finger should always be flexed around 1.5 times the distal interphalangeal joint angle. The study aimed to comply with this constraint, by simultaneously distributing the forces over the distal and middle finger phalanges. For evaluation, the voluntary and exoskeleton flexions were compared based on the relation between the proximal and distal interphalangeal joint angles. The results showed that during the exoskeleton flexion the relation between the interphalangeal joints complied with the biomechanical constraint, where the proximal interphalangeal joint angle was 1.5 times larger than the distal interphalangeal joint. This ensures that the mechanism flexes the finger comfortably. The proposed solution is therefore a promising design for a novel soft exoskeleton that will be used for training and assistance of patients with hand paralysis.