| Περίληψη: | This thesis is devoted to the presentation of a Wireless Sensor Network implementation for upper limb rehabilitation that aims, mainly, to function as a complementary system for patient’s progress supervision and rehabilitation session exercises tuning by the physiotherapist. A cost effective, custom made, motion capture sensor node composed by a 9DoF IMU, is presented. This node can be mounted on upper limb segments (upper arm, forearm, hand), and send wirelessly the corresponding measured data to a base station for process. This concludes to the calculation of each sensor node orientation in terms of its local coordinate frame. In the sequel, using a biomechanical model for the upper limb that resembles that of a kinematic model of a robotic arm based on Denavit-Hartenberg configuration, each joint angles and the position and orientation of the individual segments can be determined in 3D space. This is accomplished with a set of deterministic mathematical expressions, which combine the orientations of the sensor nodes and the upper limb model joint angles. Experimental results for some main upper limb motions are presented, in order to evaluate the effectiveness of the methods used. At last, an android application that serves in the real-time communication with the sensor nodes and recording of the measured data is presented, followed by a description and discussion over the results of this thesis, while ongoing work is noted and overall recommendations are given for future research.
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