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LiDAR-based Real-time Measurement and Control of Shoulder Torque - Preview on an Experimental Approach
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  • Max Herrmann ,
  • Christoph Ebenhoch ,
  • Jens Wense, von der ,
  • Robert Weidner
Max Herrmann
Helmut-Schmidt-University/University of the Federal Armed Forces Germany Hamburg

Corresponding Author:[email protected]

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Christoph Ebenhoch
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Jens Wense, von der
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Robert Weidner
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A 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-armsystem and their embeddings in control loops are introduced. Early measurements of a novel, multisensor LiDAR system for real-time motioncapturing of human motion are presented, and its implications discussed.The experimental setup is used for direct shoulder torque readings and control.