Upper extremity’s trajectories in activities of daily living for use in an intelligent control system of a rehabilitation exoskeleton

The research aimed to model ADLs by registering and segmenting real-life movements and dividing them into sub-tasks based on joint motions. The investigation used IMU sensors placed on the body to capture upper extremity motion. Angular measurements were converted into joint variables of the extremity model with Matlab-based computations. Then, these were divided into segments assigned to the considered sub-functionalities of the tasks.