BA/SA/MA: Development of real-time kinematics and dynamics analysis using IMU-based solution for control of an exoskeleton

Technische Universität München
March 04, 2023
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Master Thesis: Development of real-time kinematics and dynamics analysis

using IMU-based solution for control of an exoskeleton

31.01.2023, Studentische Hilfskräfte, Praktikantenstellen, Studienarbeiten


The upper limb plays an important role in the activities of daily living. A large number of musculoskeletal and neurological disorders can reduce the upper limb function and thus the quality of life of the person concerned. This type of disorders can occur after Stroke, severe rotator cuff tear, Spinal Cord Injury, or after breast cancer. Soft exoskeletal assistive devices represent a promising solution to assist people with upper extremity impairments in the rehabilitation process outside the clinic or rehabilitation center. Current solutions have deficiencies especially in human-centered, intention-based control, which currently prevents wider application. EMG- driven model based control strategies can help to overcome current drawbacks. Therefore, it is necessary to create a model which allows for real-time calculations of the kinematics and dynamics. As exoskeletons should be designed so they also work outside of the laboratory measurements, motion data needs to be collected by use of sensors such as IMUs instead of optical motion tracking. The goal of this study is to create a pipeline which allows for real-time simulation of an existing shoulder model by use of IMU sensors.


• Setup of a matlab script to parametrize, and control a musculoskeletal model of the shoulder joint, • setup of the IMU sensor network, • adapt an existing real-time pipeline to be able to work with IMU sensors, • programming of a graphical user interface for data visualization, • conducting experiments to test and evaluate the system, • documentation and reporting.


• Basic understanding of the human musculoskeletal system • Experience in programming and simulation • Knowledge in C/C++ is a plus • Knowledge in human modeling is a plus • Strong interest in biomechanics, control and soft robotics

For application please provide a resume, a short motivation letter and a transcript of records. I'm looking forward to your application!


Dr.-Ing. Manuel Ferle, Chair of Ergonomics, [email protected]

Kontakt: [email protected]

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