Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations

Borbély, Bence J.; Szolgay, Péter

doi:10.1186/s12938-016-0291-x

BioMedical Engineering OnLine

Table 1 RMS errors

From: Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations

Test environment	\(\theta _\mathtt{{elv}}\) (°)	\(\theta _\mathtt{{sh\_elv}}\) (°)	\(\theta _\mathtt{{sh\_rot}}\) (°)	\(\theta _\mathtt{{el\_flex}}\) (°)	\(\theta _\mathtt{{pro\_sup}}\) (°)	\(\theta _\mathtt{{dev\_c}}\) (°)	\(\theta _\mathtt{{flex\_c}}\) (°)
OpenSim	0.0429 ± 0.0339	0.0192 ± 0.0053	0.1472 ± 0.0760	0.0764 ± 0.0288	0.6365 ± 0.1701	0.9198 ± 0.2477	2.2916 ± 1.1142
MATLAB	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0014 ± 0.0007	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0023 ± 0.0041	0.0049 ± 0.0087
PC double	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0014 ± 0.0007	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0025 ± 0.0051	0.0053 ± 0.0107
PC float	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.4193 ± 0.8995	1.1148 ± 2.4730
PC float mod.	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0045 ± 0.0092	0.0097 ± 0.0195
ARM M4 double	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0014 ± 0.0007	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0025 ± 0.0051	0.0053 ± 0.0107
ARM M4 soft float	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.4193 ± 0.8995	1.1147 ± 2.4730
ARM M4 hard float	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.4095 ± 0.9051	1.0944 ± 2.4840
ARM M4 soft float mod.	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0078 ± 0.0128	0.0170 ± 0.0276
ARM M4 hard float mod.	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0077 ± 0.0128	0.0167 ± 0.0275
ARM M7 double	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0014 ± 0.0007	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0025 ± 0.0051	0.0053 ± 0.0107
ARM M7 soft float	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.4193 ± 0.8995	1.1147 ± 2.4730
ARM M7 hard float	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.4095 ± 0.9051	1.0944 ± 2.4840
ARM M7 soft float mod.	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0078 ± 0.0128	0.0170 ± 0.0276
ARM M7 hard float mod.	0.0028 ± 0.0003	0.0006 ± 0.0002	0.0016 ± 0.0013	0.0005 ± 0.0002	0.0008 ± 0.0006	0.0077 ± 0.0128	0.0167 ± 0.0275

Each row represents a separate test environment for the reference (OpenSim) and proposed inverse kinematics algorithm. The columns show mean ± standard deviation joint angle RMS errors across all valid trials (59 for OpenSim, 100 otherwise) for each test environment

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ISSN: 1475-925X

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