Newton-Euler based Computational Modeling and Trajectory Planning in Human Arm Flexion-Extension Movements: A Preliminary Study for Collaborative Robot Implementation in Rehabilitation

Human arm movement analysis is an important process in upper limb rehabilitation which helps in the restoration of motor function post injury. This will help in framing the strategies for rehabilitation with the aim of personalization and improved effectiveness. The current work focuses on modeling the human arm as a three-link system, representing the shoulder, elbow, and wrist joints. The arm’s mass, size, and flexion-extension limit angles are determined based on anthropometric data. These data are used for dynamic analysis, where a variable weight is placed at the fingertip and precisely simulated using the Newton-Euler approach. The torque variations along with the generated trajectory at each joint are significant, which can provide an analytical approach for understanding the arm dynamics that can lead to the implementation of collaborative robots in rehabilitation. This approach provides the tailor-made rehabilitation programs ensuring that robotic assistance is effectively aligned with the specific needs of the user.