acquisition of a comparative arthrokinematic database of the shoulder with the purpose of implementing a new multi-axial joint based on pneumatic actuators in a rehabilitation robot.

In the course of the application of robotics in rehabilitation, we opt to investigate, besides the development of a step robot, whether systems with more complex, 3D-kinematics are feasible. For the research consortium that submitted a SBR-application with the IWT, the upper limb constitutes a new domain. Clinical application of robotics in the rehabilitation of the upper limb requires an exoskeleton with actuators that is relatively small and lightxeight. For the motion sequence of the exoskeleton to correspond with the real-time physiological motion sequence, the arthrokinematics of the shoulder need to be documented accurately. Thepurpose of this project is the acquisition of an arthrokinematic database of the shoulder. To this extent, technical reference frames will be related to anatomical reference frames by means of the registration of bony landmark co-ordinates during dissection, using a 3D-stylus (Microscribe). Subsequently, the motion sequence will be recorded with electromagnetic (Flock of birds) as well as sonographic trackers (Zebris). In a second phase, the same data will be recorded vivo and compared with the data axquired through video-analysis. A mathematical model for the shoulder can be developed on the basis of these data.