Development of a real-time upper limb´s motion tracking exoskeleton device for active rehabilitation using an inertia sensor

In this paper, a real-time upper limb´s motion tracking exoskeleton device is proposed and developed, which can be used in active rehabilitation of upper limb for stroke. This device is portable and wearable and is potential to be used in the passive and active training for stroke patients. Passive training has been finished in previous work and in this paper, the preliminary work for active rehabilitation is presented, which is realization of the real-time upper limb´s motion tracking. We use an adaptive weighted average filtering and double close-loop control to realize real-time and stable tracking performance. Experiments have been conducted to prove that it is suitable for active rehabilitation.