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December 21, 2022
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Estimation of human arm joints using two wireless sensors in robotic rehabilitation tasks

Publicated to:Sensors. 15 (12): 30571-30583 - 2015-12-04 15(12), DOI: 10.3390/s151229818

Authors: Bertomeu-Motos, Arturo; Lledo, Luis D; Diez, Jorge A; Catalan, Jose M; Ezquerro, Santiago; Badesa, Francisco J; Garcia-Aracil, Nicolas

Affiliations

Miguel Hernandez Univ, Neurobioengn Res Grp, Elche 03202, Spain - Author
Universidad Miguel Hernández de Elche - Author

Abstract

This paper presents a novel kinematic reconstruction of the human arm chain with five degrees of freedom and the estimation of the shoulder location during rehabilitation therapy assisted by end-effector robotic devices. This algorithm is based on the pseudoinverse of the Jacobian through the acceleration of the upper arm, measured using an accelerometer, and the orientation of the shoulder, estimated with a magnetic angular rate and gravity (MARG) device. The results show a high accuracy in terms of arm joints and shoulder movement with respect to the real arm measured through an optoelectronic system. Furthermore, the range of motion (ROM) of 50 healthy subjects is studied from two different trials, one trying to avoid shoulder movements and the second one forcing them. Moreover, the shoulder movement in the second trial is also estimated accurately. Besides the fact that the posture of the patient can be corrected during the exercise, the therapist could use the presented algorithm as an objective assessment tool. In conclusion, the joints’ estimation enables a better adjustment of the therapy, taking into account the needs of the patient, and consequently, the arm motion improves faster.

Keywords

end-effector robotsmargneuro-rehabilitationupper limbsAccelerometryAlgorithmsBiomechanical phenomenaEnd-effector robotsHumansJointsKinematic reconstructionMan-machine systemsMargNeuro-rehabilitationRehabilitationRoboticsUpper extremityUpper limbsWireless technology

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Sensors due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2015, it was in position 12/56, thus managing to position itself as a Q1 (Primer Cuartil), in the category Instruments & Instrumentation.

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 6.92, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions Jul 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-07-17, the following number of citations:

  • WoS: 25
  • Scopus: 30
  • Europe PMC: 10

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-17:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 82 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

    It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

    • The work has been submitted to a journal whose editorial policy allows open Open Access publication.