Spherical exoskeleton for the measurement of shoulder movement

This paper presents the design, construction, and testing of a spherical shoulder exoskeleton that measures shoulder movement for use before and after reverse total shoulder arthroplasty. The device is designed for in-home use to facilitate remote physiotherapy. Embedded sensor data are converted to a robotic shoulder model to illustrate the measured movement and which is validated through ImageJ measurements. Unlike current motion capture and image processing measurement techniques, this device measures the movement of the upper arm relative to the scapula, excluding scapula movement, thereby focusing on movement provided by the shoulder prosthesis.