Fig. 5From: Human arm joints reconstruction algorithm in rehabilitation therapies assisted by end-effector robotic devicesExperimental exercises. a Healthy subjects performed an arm movement using a 7 DoF robot wearing an accelerometer placed onto the upper arm and special jacket with optoelectronic markers. b Post-stroke patients performed arm movements using the ‘PUPArm’ robot wearing an accelerometer placed onto the upper arm and a magneto-inertial device placed onto the shoulderBack to article page