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This study explores anatomical compensations in patients performing activities of daily living (ADLs) during exoskeleton-aided physiotherapy. Patients with neurological conditions often exhibit compensatory movements due to decreased muscular force and limited range of motion, potentially leading to incorrect motion patterns and uneven stress on the musculoskeletal system. By analysing kinematic data from 22 ADLs measured with inertial measurement units (IMUs), the research identifies typical compensatory behaviours assigned to modelled degrees of freedom (DOFs) of extremity. The results indicate that effective monitoring and correction of these compensations are essential for enhancing rehabilitation outcomes. The developed models will inform the SmartEx-Home exoskeleton’s control systems, enabling individualized motion support and promoting proper movement techniques for improved patient recovery and independence in daily activities.

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Analysis of Anatomical Compensations of Activities of Daily Living for Automatic Exoskeleton-Aided Task-Oriented Physiotherapy

  • 会议论文

  • 发表日期：

    2026年

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  • Piotr Falkowski,
  • Maciej Pikuliński,
  • Tomasz Osiak,
  • Kajetan Jeznach,
  • Krzysztof Zawalski,
  • Piotr Kołodziejski,
  • Jan Oleksiuk,
  • Andrzej Zakręcki,
  • Daniel Śliż,
  • Natalia Osiak,
  • Przemysław Kasiak

摘要

This study explores anatomical compensations in patients performing activities of daily living (ADLs) during exoskeleton-aided physiotherapy. Patients with neurological conditions often exhibit compensatory movements due to decreased muscular force and limited range of motion, potentially leading to incorrect motion patterns and uneven stress on the musculoskeletal system. By analysing kinematic data from 22 ADLs measured with inertial measurement units (IMUs), the research identifies typical compensatory behaviours assigned to modelled degrees of freedom (DOFs) of extremity. The results indicate that effective monitoring and correction of these compensations are essential for enhancing rehabilitation outcomes. The developed models will inform the SmartEx-Home exoskeleton’s control systems, enabling individualized motion support and promoting proper movement techniques for improved patient recovery and independence in daily activities.