LiDAR-based Real-Time Measurement and Control of Shoulder Torque—Preview on an Experimental Approach

Abstract

AbstractA concept of how load imposed by an exoskeleton on the upper arm affects shoulder torque is given using a mechanical mock-up of the shoulder-arm-system and a serial kinematic robot. System identification methods for linear surrogate models of the human shoulder-arm-system and their embeddings in control loops are introduced. Early measurements of a novel, multisensor LiDAR system for real-time motion-capturing of human motion are presented, and its implications discussed. The experimental setup is used for direct shoulder torque readings and control.