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[
1
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2
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u
s
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s
e
in
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d
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[
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[
4
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T
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to
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licat
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tu
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w
h
ic
h
co
m
p
lica
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o
v
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[
3
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,
[
5
]
,
[
6
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.
R
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w
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j
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p
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u
ce
d
in
n
o
v
ati
v
e
ap
p
r
o
ac
h
es
to
elb
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w
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eh
ab
il
itatio
n
.
L
ig
h
t
w
ei
g
h
t
ca
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le
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d
r
iv
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ac
t
u
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n
h
a
s
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ec
en
tl
y
e
m
er
g
ed
as
a
n
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e
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e
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n
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o
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ev
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w
e
ig
h
t
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ile
m
ai
n
tai
n
in
g
r
eh
ab
il
itatio
n
p
er
f
o
r
m
a
n
ce
[
9
]
.
R
ec
en
t
d
ev
elo
p
m
e
n
t
s
also
d
em
o
n
s
tr
ate
t
h
at
ar
tif
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n
telli
g
e
n
ce
s
ig
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if
ica
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tl
y
i
m
p
r
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v
es
w
ea
r
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le
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p
p
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li
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k
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t
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r
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g
h
ad
ap
tiv
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co
n
tr
o
l,
in
te
n
tio
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r
ec
o
g
n
itio
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,
an
d
p
er
s
o
n
alize
d
r
eh
ab
ilit
atio
n
s
tr
ateg
ies
[
1
0
]
.
A
d
v
an
ce
d
m
o
t
io
n
-
g
e
n
er
atio
n
alg
o
r
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h
m
s
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av
e
r
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tl
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p
r
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p
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ed
to
i
m
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aj
ec
to
r
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p
lan
n
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g
an
d
p
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e
s
m
o
o
th
er
co
o
r
d
in
ated
m
o
v
e
m
e
n
t
s
f
o
r
u
p
p
er
-
l
i
m
b
r
eh
ab
ilit
at
io
n
ex
o
s
k
e
leto
n
s
[
1
1
]
.
T
h
ese
d
ev
ices,
o
r
ig
in
all
y
d
es
ig
n
ed
f
o
r
in
d
u
s
tr
ial
an
d
m
il
itar
y
ap
p
licati
o
n
s
,
ar
e
n
o
w
b
ein
g
ad
ap
ted
f
o
r
m
ed
ical
u
s
e,
p
r
o
v
id
in
g
m
ec
h
a
n
ical
a
s
s
i
s
ta
n
ce
to
p
atien
ts
r
ec
o
v
er
i
n
g
f
r
o
m
elb
o
w
in
j
u
r
ies
[
1
2
]
,
[
1
3
]
.
Pro
p
e
r
h
u
m
a
n
–
e
x
o
s
k
e
leto
n
ali
g
n
m
e
n
t
a
n
d
co
u
p
lin
g
d
y
n
a
m
ics
ar
e
also
ess
e
n
tial
f
o
r
s
af
e
r
eh
ab
ilit
atio
n
a
n
d
ef
f
ec
t
iv
e
to
r
q
u
e
tr
an
s
m
is
s
io
n
[
1
4
]
.
T
h
e
s
p
ec
if
ic
ex
o
s
k
eleto
n
s
y
s
te
m
d
i
s
cu
s
s
ed
e
m
p
lo
y
s
a
o
n
e
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
(
1
DO
F)
m
ec
h
an
is
m
to
a
s
s
i
s
t
w
i
th
elb
o
w
f
le
x
io
n
a
n
d
e
x
te
n
s
io
n
.
R
ec
e
n
t
m
o
d
u
lar
ex
o
s
k
e
leto
n
d
esi
g
n
s
h
av
e
f
u
r
th
er
i
m
p
r
o
v
ed
ad
ap
tab
ilit
y
t
o
d
if
f
er
en
t
p
atie
n
t
s
w
h
i
le
r
ed
u
cin
g
m
ec
h
a
n
ical
co
n
s
tr
ain
ts
[
1
5
]
.
A
d
v
an
ce
d
ad
ap
tiv
e
ad
m
i
ttan
ce
co
n
tr
o
l
h
a
s
r
ec
en
tl
y
b
ee
n
s
h
o
w
n
to
i
m
p
r
o
v
e
r
eh
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ilit
atio
n
p
er
f
o
r
m
a
n
ce
b
y
ad
j
u
s
t
in
g
r
o
b
o
t
ass
is
ta
n
ce
ac
co
r
d
in
g
to
p
atien
t
i
n
ten
tio
n
[
1
6
]
.
T
h
is
d
esig
n
n
o
t
o
n
l
y
s
u
p
p
o
r
ts
th
e
p
h
y
s
ica
l
r
eh
ab
ilit
at
io
n
p
r
o
ce
s
s
b
u
t
al
s
o
co
llects
d
ata
t
h
r
o
u
g
h
i
n
ter
n
et
o
f
th
in
g
s
(
I
o
T
)
p
latf
o
r
m
s
,
e
n
ab
li
n
g
r
e
m
o
te
m
o
n
ito
r
i
n
g
o
f
r
ec
o
v
er
y
[
1
2
]
,
[
1
7
]
.
R
ec
en
t
s
tu
d
ie
s
h
av
e
s
h
o
w
n
t
h
at
m
ac
h
i
n
e
-
lear
n
in
g
ap
p
r
o
ac
h
es
ca
n
s
ig
n
i
f
ica
n
tl
y
i
m
p
r
o
v
e
m
o
v
e
m
en
t
-
in
ten
t
io
n
d
etec
tio
n
f
o
r
in
t
ellig
e
n
t
r
eh
ab
ilit
a
tio
n
r
o
b
o
ts
[
1
8
]
.
T
h
e
in
teg
r
atio
n
o
f
I
o
T
t
ec
h
n
o
lo
g
y
i
n
to
t
h
ese
s
y
s
te
m
s
f
u
r
t
h
er
en
h
an
ce
s
t
h
eir
u
tili
t
y
b
y
en
ab
li
n
g
r
ea
l
-
ti
m
e
m
o
n
ito
r
in
g
o
f
p
atie
n
t
p
r
o
g
r
ess
,
allo
w
i
n
g
h
ea
lt
h
ca
r
e
p
r
o
v
id
er
s
to
tailo
r
r
eh
ab
ilit
ati
o
n
p
r
o
to
co
ls
b
ased
o
n
co
n
tin
u
o
u
s
l
y
u
p
d
ated
d
ata
[
7
]
,
[
1
9
]
.
Su
ch
i
n
n
o
v
atio
n
s
r
ep
r
esen
t
a
s
h
i
f
t
to
w
ar
d
s
m
o
r
e
p
er
s
o
n
alize
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an
d
d
ata
-
d
r
iv
en
r
e
h
ab
ilit
atio
n
s
tr
ateg
ie
s
,
w
h
ic
h
ca
n
s
i
g
n
i
f
ic
an
tl
y
i
m
p
r
o
v
e
o
u
tco
m
es
f
o
r
p
atien
t
s
r
ec
o
v
er
in
g
f
r
o
m
elb
o
w
i
n
j
u
r
ies
[
7
]
,
[
1
9
]
.
B
y
le
v
er
ag
in
g
t
h
ese
tec
h
n
o
lo
g
ies,
h
ea
lt
h
ca
r
e
p
r
o
v
id
er
s
ca
n
en
h
a
n
ce
th
e
e
f
f
icie
n
c
y
o
f
r
eh
ab
ilit
atio
n
w
h
ile
e
m
p
o
w
er
i
n
g
p
atien
t
s
to
tak
e
an
ac
tiv
e
r
o
le
in
t
h
eir
r
ec
o
v
er
y
p
r
o
ce
s
s
.
E
m
er
g
i
n
g
s
elf
-
p
o
w
er
ed
w
ea
r
ab
l
e
s
en
s
in
g
tec
h
n
o
lo
g
ies
ar
e
ex
p
ec
ted
to
f
u
r
th
er
i
m
p
r
o
v
e
lo
n
g
-
t
er
m
r
eh
ab
ilit
atio
n
m
o
n
ito
r
in
g
w
it
h
o
u
t
in
cr
ea
s
in
g
s
y
s
te
m
co
m
p
lex
i
t
y
[
2
0
]
.
T
h
is
p
ap
er
in
tr
o
d
u
ce
s
an
I
o
T
-
b
ased
ex
o
s
k
eleto
n
s
y
s
t
e
m
s
p
ec
if
ica
ll
y
d
esi
g
n
ed
f
o
r
elb
o
w
r
eh
ab
ilit
atio
n
.
T
h
e
d
ev
ice
u
s
es
a
1
DOF
m
ec
h
a
n
i
s
m
to
ass
is
t
f
lex
io
n
an
d
ex
ten
s
io
n
m
o
v
e
m
en
ts
o
f
th
e
elb
o
w
.
R
ea
l
-
ti
m
e
d
ata
co
llected
th
r
o
u
g
h
I
o
T
p
latf
o
r
m
s
s
u
ch
as
B
l
y
n
k
a
n
d
T
h
in
g
Sp
ea
k
allo
w
s
p
at
ien
ts
a
n
d
clin
icia
n
s
to
m
o
n
ito
r
th
e
r
ec
o
v
er
y
p
r
o
ce
s
s
f
r
o
m
a
n
y
lo
ca
tio
n
.
T
h
is
in
n
o
v
atio
n
ai
m
s
to
r
ed
u
ce
th
e
b
u
r
d
en
o
n
h
ea
lth
ca
r
e
p
r
o
v
id
er
s
w
h
ile
e
m
p
o
w
er
in
g
p
atien
t
s
to
tak
e
g
r
ea
ter
co
n
tr
o
l
o
v
er
th
eir
r
eh
ab
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atio
n
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2.
1
.
H
a
rdwa
re
des
ig
n a
nd
ins
t
ru
m
e
nts
T
h
e
I
o
T
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b
ased
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o
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ex
o
s
k
el
eto
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s
y
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te
m
w
as
d
esi
g
n
ed
to
p
r
io
r
itize
p
o
r
tab
ilit
y
a
n
d
u
s
er
co
m
f
o
r
t.
L
i
g
h
t
w
ei
g
h
t
m
ater
ial
s
w
er
e
u
s
ed
f
o
r
th
e
f
r
a
m
e,
w
h
ich
w
a
s
co
n
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tr
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cted
u
s
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g
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d
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le
DI
N
r
ail
as
th
e
b
ase
s
tr
u
ct
u
r
e
s
h
o
w
n
in
Fi
g
u
r
e
1
.
T
h
e
f
r
a
m
e
w
as
s
ec
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r
ed
w
ith
h
e
x
a
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A
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f
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m
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.
Fig
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E
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ea
l
ch
o
ice
f
o
r
I
o
T
p
r
o
j
ec
ts
.
T
h
e
b
o
ar
d
ca
n
b
e
p
o
w
er
ed
v
ia
a
m
icr
o
-
U
SB
j
ac
k
o
r
an
ex
ter
n
al
s
u
p
p
l
y
p
in
(
VI
N)
,
en
h
a
n
ci
n
g
i
ts
v
er
s
atilit
y
i
n
d
if
f
er
en
t o
p
er
atio
n
al
en
v
ir
o
n
m
e
n
t
s
.
A
p
o
te
n
tio
m
eter
w
as
i
n
te
g
r
at
ed
in
to
t
h
e
s
y
s
te
m
to
m
ea
s
u
r
e
an
g
u
lar
m
o
v
e
m
e
n
t
s
o
f
t
h
e
elb
o
w
j
o
in
t
th
o
u
g
h
r
ec
en
t
r
eh
ab
ili
tatio
n
s
y
s
te
m
s
h
a
v
e
i
n
teg
r
ated
d
ed
icate
d
an
g
le
s
en
s
o
r
s
to
i
m
p
r
o
v
e
m
o
tio
n
tr
ac
k
in
g
ac
cu
r
ac
y
an
d
au
to
n
o
m
o
u
s
tr
ai
n
in
g
p
er
f
o
r
m
a
n
ce
[
2
1
]
.
T
h
e
p
o
ten
tio
m
eter
o
u
tp
u
ts
c
h
an
g
es
in
an
alo
g
-
to
-
d
ig
ital
co
n
v
er
ter
(
A
D
C
)
v
a
lu
e
s
w
it
h
in
a
r
an
g
e
o
f
0
–
1
0
2
3
(
1
0
-
b
it
r
eso
l
u
tio
n
)
.
U
s
i
n
g
th
e
A
r
d
u
i
n
o
i
n
te
g
r
ated
d
ev
elo
p
m
en
t
e
n
v
ir
o
n
m
e
n
t
(
I
DE
)
m
ap
(
)
f
u
n
ctio
n
,
th
e
s
e
ADC
v
al
u
es
ar
e
co
n
v
er
ted
in
to
co
r
r
esp
o
n
d
in
g
an
g
le
v
alu
e
s
.
Sp
ec
if
ical
l
y
,
a
m
i
n
i
m
u
m
ADC
v
a
lu
e
o
f
4
2
0
is
m
ap
p
ed
to
0
°
,
an
d
a
m
a
x
i
m
u
m
v
al
u
e
o
f
9
2
0
is
m
ap
p
ed
to
1
3
0
°
.
T
h
is
m
ap
p
in
g
allo
w
s
th
e
s
y
s
te
m
to
d
is
p
la
y
r
ea
l
-
ti
m
e
a
n
g
u
lar
p
o
s
itio
n
s
o
n
I
o
T
p
l
atf
o
r
m
s
,
en
ab
li
n
g
p
r
ec
is
e
m
o
n
ito
r
i
n
g
o
f
r
e
h
ab
ilit
atio
n
p
r
o
g
r
ess
.
T
o
p
r
o
v
id
e
m
ec
h
a
n
ical
as
s
is
ta
n
ce
,
a
s
er
v
o
m
o
to
r
w
as
e
m
p
lo
y
ed
d
u
e
to
its
ab
ilit
y
to
p
r
ec
is
el
y
co
n
tr
o
l
an
g
u
lar
p
o
s
itio
n
,
v
e
lo
cit
y
,
a
n
d
ac
ce
ler
atio
n
.
T
h
e
s
er
v
o
m
o
to
r
co
n
s
is
ts
o
f
an
elec
tr
ic
m
o
to
r
,
a
p
o
s
itio
n
f
ee
d
b
ac
k
s
en
s
o
r
,
an
d
a
co
n
tr
o
ller
,
en
ab
lin
g
ac
c
u
r
ate
clo
s
ed
-
lo
o
p
co
n
tr
o
l.
T
h
is
co
m
p
o
n
en
t
p
la
y
s
a
v
ital
r
o
le
i
n
elb
o
w
r
eh
ab
ilit
atio
n
b
y
a
s
s
i
s
ti
n
g
f
le
x
io
n
a
n
d
e
x
te
n
s
io
n
m
o
v
e
m
en
ts
a
n
d
p
r
o
v
id
in
g
t
h
e
r
eq
u
ir
ed
to
r
q
u
e
f
o
r
p
atie
n
ts
w
h
o
ar
e
u
n
ab
le
to
p
e
r
f
o
r
m
th
ese
m
o
v
e
m
e
n
ts
in
d
ep
en
d
e
n
tl
y
.
T
o
f
u
r
th
er
i
m
p
r
o
v
e
r
eh
ab
ilit
atio
n
p
er
f
o
r
m
an
ce
,
s
en
s
o
r
in
f
o
r
m
a
tio
n
in
teg
r
ated
w
it
h
clo
u
d
-
b
ased
teler
eh
ab
ilit
atio
n
h
as
r
ec
en
t
l
y
b
ee
n
i
n
tr
o
d
u
ce
d
,
en
h
a
n
ci
n
g
t
h
e
ac
cu
r
ac
y
o
f
r
e
m
o
te
p
atien
t
as
s
ess
m
e
n
t
a
n
d
e
n
ab
lin
g
co
n
ti
n
u
o
u
s
m
o
n
ito
r
in
g
b
y
cli
n
icia
n
s
w
ith
s
i
m
i
lar
clo
u
d
-
ass
is
ted
r
eh
ab
ilit
atio
n
p
latf
o
r
m
s
h
a
v
e
d
e
m
o
n
s
tr
ated
t
h
e
g
r
o
w
i
n
g
i
m
p
o
r
tan
ce
o
f
tele
m
o
n
ito
r
in
g
f
o
r
h
o
m
e
-
b
ased
th
er
ap
y
[
2
2
]
.
Ob
j
ec
ti
v
e
k
i
n
e
m
atic
a
s
s
es
s
m
en
t
u
s
in
g
r
o
b
o
tic
ex
o
s
k
eleto
n
s
en
ab
les
q
u
an
ti
tati
v
e
ev
alu
a
tio
n
o
f
r
e
h
ab
ilit
atio
n
p
r
o
g
r
ess
an
d
s
u
p
p
o
r
ts
ev
id
en
ce
-
b
ased
clin
ical
d
ec
is
io
n
m
a
k
i
n
g
[2
3]
.
2
.
2
.
Arduin
o
inte
g
ra
t
ed
dev
elo
p
m
ent
env
iro
n
m
ent
T
h
e
A
r
d
u
i
n
o
I
DE
s
er
v
es a
s
th
e
p
r
im
ar
y
s
o
f
t
w
ar
e
f
o
r
p
r
o
g
r
am
m
in
g
a
n
d
in
ter
f
ac
i
n
g
w
i
th
th
e
h
ar
d
w
ar
e
co
m
p
o
n
e
n
t
s
.
T
h
e
I
DE
in
clu
d
e
s
a
tex
t
ed
ito
r
f
o
r
w
r
iti
n
g
co
d
e,
a
t
o
o
lb
ar
f
o
r
c
o
m
m
o
n
f
u
n
ct
io
n
s
,
an
d
a
co
n
s
o
le
f
o
r
d
is
p
la
y
i
n
g
m
e
s
s
a
g
es
an
d
er
r
o
r
s
.
Pro
g
r
am
s
,
r
ef
er
r
ed
to
as
"
s
k
etch
e
s
,
"
ar
e
w
r
itte
n
i
n
th
e
te
x
t
ed
ito
r
an
d
s
av
ed
w
it
h
th
e
.
in
o
f
i
le
ex
t
en
s
io
n
.
T
h
e
I
DE
allo
w
s
u
s
e
r
s
to
co
m
p
ile,
v
er
if
y
,
an
d
u
p
lo
ad
c
o
d
e
to
th
e
No
d
eM
C
U
E
SP
8
2
6
6
m
icr
o
co
n
tr
o
ller
.
A
d
d
itio
n
all
y
,
it
f
ac
ili
tates
co
m
m
u
n
icatio
n
w
it
h
t
h
e
h
ar
d
w
ar
e
th
r
o
u
g
h
th
e
s
er
ial
m
o
n
ito
r
,
m
a
k
i
n
g
it a
v
ital to
o
l f
o
r
s
y
s
te
m
p
r
o
g
r
a
m
m
i
n
g
a
n
d
d
eb
u
g
g
in
g
.
2
.
3
.
B
y
lnk
(
f
re
e
clo
ud
inte
rn
et
o
f
t
hin
g
s
pla
t
f
o
rm
)
B
ly
n
k
i
s
a
p
lat
f
o
r
m
w
i
th
iOS
an
d
An
d
r
o
id
ap
p
licatio
n
s
d
esig
n
ed
to
co
n
tr
o
l
a
n
d
m
o
n
ito
r
h
ar
d
w
ar
e
p
r
o
j
ec
ts
r
em
o
tel
y
.
I
t
p
r
o
v
id
es
a
d
ig
ital
d
ash
b
o
ar
d
w
h
er
e
u
s
er
s
ca
n
cr
ea
te
cu
s
to
m
in
ter
f
ac
es
b
y
d
r
ag
g
in
g
an
d
d
r
o
p
p
in
g
w
id
g
e
ts
s
u
c
h
as
s
l
id
er
s
,
b
u
tto
n
s
,
a
n
d
g
r
ap
h
s
.
Af
ter
d
o
w
n
lo
ad
in
g
t
h
e
B
l
y
n
k
ap
p
,
a
p
r
o
j
ec
t
d
ash
b
o
ar
d
ca
n
b
e
cr
ea
ted
,
an
d
th
e
r
eq
u
ir
ed
w
id
g
e
ts
co
n
f
ig
u
r
ed
.
I
n
th
is
p
r
o
j
ec
t,
a
s
lid
er
w
id
g
et
is
u
s
ed
to
ad
j
u
s
t
th
e
s
er
v
o
m
o
to
r
'
s
an
g
le,
w
h
ile
a
g
au
g
e
w
id
g
e
t
d
is
p
la
y
s
th
e
co
r
r
esp
o
n
d
in
g
an
g
le
v
alu
e.
B
y
in
t
eg
r
atin
g
B
l
y
n
k
w
it
h
th
e
A
r
d
u
i
n
o
I
DE
,
r
ea
l
-
ti
m
e
co
n
tr
o
l a
n
d
m
o
n
ito
r
in
g
o
f
t
h
e
ex
o
s
k
eleto
n
s
y
s
te
m
ar
e
ac
h
ie
v
ed
.
2
.
4
.
T
hin
g
Sp
e
a
k
(
i
nte
rnet
o
f
t
hin
g
s
pla
t
f
o
r
m
)
T
h
in
g
Sp
ea
k
is
a
n
I
o
T
an
aly
ti
cs
p
latf
o
r
m
u
s
ed
f
o
r
ag
g
r
e
g
at
in
g
,
v
is
u
aliz
in
g
,
an
d
a
n
al
y
z
in
g
li
v
e
d
ata
s
tr
ea
m
s
in
t
h
e
clo
u
d
.
I
t
en
ab
les
r
ea
l
-
ti
m
e
d
ata
v
is
u
aliza
t
io
n
th
r
o
u
g
h
in
ter
ac
tiv
e
g
r
ap
h
s
a
n
d
o
f
f
er
s
in
te
g
r
atio
n
w
it
h
M
A
T
L
A
B
f
o
r
ad
v
a
n
ce
d
an
al
y
tics
.
T
h
i
n
g
Sp
ea
k
i
s
e
m
p
lo
y
ed
i
n
t
h
is
p
r
o
j
ec
t
to
d
is
p
la
y
a
n
g
u
lar
d
ata
g
en
er
ated
b
y
t
h
e
p
o
ten
tio
m
ete
r
.
Usi
n
g
th
e
h
y
p
er
te
x
t tr
an
s
f
er
p
r
o
to
co
l
(
H
T
T
P
)
an
d
m
e
s
s
a
g
e
q
u
eu
i
n
g
te
le
m
e
tr
y
tr
an
s
p
o
r
t
(
MQ
T
T
)
p
r
o
to
co
ls
,
d
ata
is
s
to
r
ed
an
d
r
etr
iev
ed
f
r
o
m
t
h
e
clo
u
d
,
allo
w
i
n
g
u
s
er
s
to
m
o
n
i
to
r
r
eh
ab
ilit
atio
n
p
r
o
g
r
es
s
th
r
o
u
g
h
liv
e
g
r
ap
h
s
ac
ce
s
s
ib
le
v
ia
a
w
eb
i
n
ter
f
ac
e.
2
.
5
.
M
et
ho
d o
f
p
ro
ce
s
s
T
h
e
s
y
s
te
m
i
m
p
le
m
e
n
tatio
n
b
eg
in
s
w
it
h
h
ar
d
w
ar
e
a
s
s
e
m
b
l
y
.
T
h
e
co
m
p
o
n
e
n
t
s
,
in
c
l
u
d
in
g
t
h
e
p
o
ten
tio
m
eter
,
s
er
v
o
m
o
to
r
,
an
d
No
d
eM
C
U
E
SP
8
2
6
6
,
ar
e
s
ec
u
r
ed
an
d
i
n
teg
r
ated
i
n
t
o
th
e
ex
o
s
k
eleto
n
s
tr
u
ct
u
r
e.
T
h
e
A
r
d
u
in
o
I
DE
is
u
s
ed
to
w
r
ite
an
d
v
er
i
f
y
t
h
e
p
r
o
g
r
am
,
w
h
ic
h
is
s
u
b
s
eq
u
e
n
tl
y
u
p
lo
ad
ed
to
th
e
No
d
eM
C
U
m
icr
o
co
n
tr
o
ller
.
T
h
e
ex
o
s
k
eleto
n
is
t
h
e
n
w
o
r
n
o
n
th
e
i
n
j
u
r
ed
ar
m
.
I
n
itial
l
y
,
th
e
s
er
v
o
m
o
to
r
s
w
itc
h
r
em
ai
n
s
o
f
f
,
allo
w
i
n
g
p
atien
ts
to
m
o
v
e
th
eir
elb
o
w
s
m
an
u
all
y
f
o
r
f
le
x
i
o
n
an
d
ex
ten
s
io
n
ex
er
cise
s
d
ep
icted
in
Fig
u
r
e
2
.
Du
r
in
g
t
h
i
s
p
r
o
ce
s
s
,
t
h
e
p
o
ten
tio
m
e
ter
d
etec
ts
a
n
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I
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0
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I
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atic
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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R
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4864
Dev
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3.
RE
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D
D
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SCU
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O
N
3
.
1
.
P
r
o
g
re
s
s
t
o
o
ls
T
h
e
P
r
o
teu
s
d
esi
g
n
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ite
was
e
m
p
lo
y
ed
to
s
i
m
u
late
t
h
e
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ar
d
w
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d
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ig
n
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i
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teg
r
at
in
g
lib
r
ar
ies
s
p
ec
if
ic
to
No
d
eM
C
U
E
SP
8
2
6
6
.
T
h
e
s
y
s
te
m
s
c
h
e
m
atic
i
n
c
lu
d
ed
ess
en
t
ial
co
m
p
o
n
en
ts
s
u
ch
as
a
r
eg
u
lato
r
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p
o
ten
tio
m
eter
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d
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v
o
m
o
t
o
r
.
Fo
r
p
r
o
g
r
am
m
i
n
g
,
th
e
A
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u
i
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litated
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ased
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er
s
.
3
.
2
.
Appl
ica
t
io
n
s
et
up
T
h
e
B
ly
n
k
ap
p
licatio
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allo
w
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d
p
atien
ts
to
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o
w
n
lo
ad
th
e
ap
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,
co
n
f
ig
u
r
e
w
id
g
et
s
s
u
c
h
as
s
lid
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s
an
d
g
au
g
es,
an
d
in
te
g
r
ate
it
w
ith
th
e
ex
o
s
k
eleto
n
s
y
s
te
m
u
s
i
n
g
an
au
th
e
n
ticatio
n
to
k
en
.
T
h
is
p
latf
o
r
m
en
ab
led
u
s
er
s
to
co
n
tr
o
l
th
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er
v
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m
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to
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s
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n
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le
a
n
d
m
o
n
ito
r
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-
ti
m
e
d
ata,
en
h
a
n
cin
g
in
ter
ac
ti
v
it
y
in
t
h
e
r
eh
ab
ilit
atio
n
p
r
o
ce
s
s
.
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o
m
p
l
e
m
en
tin
g
t
h
i
s
,
T
h
in
g
Sp
ea
k
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en
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ated
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ti
m
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g
r
ap
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s
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f
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w
m
o
v
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m
en
ts
,
w
it
h
d
ata
s
ec
u
r
el
y
s
to
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ed
in
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h
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clo
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f
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s
is
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d
ex
p
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tab
le
as
C
S
V
f
iles
f
o
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etailed
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alu
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tio
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t
w
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k
e
E
x
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l.
A
d
d
itio
n
all
y
,
T
h
in
g
Vie
w
u
ti
lized
th
e
c
h
a
n
n
el
I
D
a
n
d
A
P
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k
e
y
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m
T
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Sp
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k
to
s
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m
le
s
s
l
y
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ep
licate
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m
e
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m
o
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ile
d
ev
ices,
p
r
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d
in
g
co
n
v
en
ien
t
ac
ce
s
s
to
r
eh
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atio
n
p
r
o
g
r
ess
f
o
r
b
o
th
p
atien
ts
a
n
d
clin
icia
n
s
.
3
.
3
.
Da
t
a
a
na
ly
s
is
R
ea
l
-
ti
m
e
g
r
ap
h
s
d
is
p
la
y
ed
f
l
ex
io
n
(
0
°
to
1
4
0
°)
an
d
ex
ten
s
io
n
(
1
4
0
°
to
0
°)
an
g
le
s
,
h
i
g
h
li
g
h
t
in
g
t
h
e
s
y
s
te
m
’
s
ab
ilit
y
to
tr
ac
k
elb
o
w
j
o
in
t
m
o
v
e
m
e
n
ts
.
T
h
e
d
ata
w
a
s
ex
p
o
r
tab
le
to
C
SV
f
o
r
m
at
f
o
r
f
u
r
t
h
er
p
r
o
ce
s
s
in
g
,
e
n
ab
li
n
g
h
ea
lt
h
ca
r
e
p
r
o
v
id
er
s
to
m
o
n
ito
r
p
r
o
g
r
ess
a
n
d
id
en
ti
f
y
r
ec
o
v
er
y
tr
e
n
d
s
.
P
atien
t
s
co
u
ld
v
is
u
alize
th
e
ir
r
eh
ab
ilit
atio
n
j
o
u
r
n
e
y
th
r
o
u
g
h
T
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in
g
Sp
ea
k
o
r
T
h
in
g
V
ie
w
,
f
o
s
ter
in
g
en
g
ag
e
m
e
n
t
in
th
ei
r
r
ec
o
v
er
y
p
r
o
ce
s
s
.
3
.
4
.
P
r
o
j
ec
t
a
na
ly
s
is
T
h
e
r
ea
l
-
ti
m
e
g
r
ap
h
p
r
o
v
id
es
ev
id
en
ce
o
f
th
e
s
u
cc
e
s
s
f
u
l
i
m
p
le
m
en
ta
tio
n
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
a
n
d
d
em
o
n
s
tr
ate
s
th
at
t
h
e
p
r
o
j
ec
t
o
b
j
ec
tiv
es
h
a
v
e
b
ee
n
ac
h
ie
v
e
d
.
T
h
e
r
ec
o
r
d
ed
d
ata
f
o
cu
s
o
n
a
s
in
g
le
d
eg
r
ee
o
f
f
r
ee
d
o
m
(
DOF)
,
r
ep
r
esen
ti
n
g
th
e
elb
o
w
's
f
le
x
io
n
an
d
ex
t
en
s
io
n
m
o
v
e
m
e
n
t
s
.
I
n
n
o
r
m
al
elb
o
w
an
ato
m
y
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
,
Vo
l.
1
5
,
No
.
2
,
J
u
l
y
202
6
:
553
-
5
6
2
558
ex
ten
s
io
n
t
y
p
icall
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r
a
n
g
e
s
f
r
o
m
0
° to
1
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°,
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h
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le
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lex
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n
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g
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f
r
o
m
ap
p
r
o
x
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m
atel
y
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3
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° to
1
4
0
°.
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h
r
o
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g
h
o
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t
th
e
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eh
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ilit
at
io
n
p
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ce
s
s
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th
e
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t
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n
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s
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t
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n
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ateg
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[
2
5
]
.
3
.
4
.
1
.
F
lex
io
n (
T
hin
g
S
pea
k
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h
ing
View
)
Flex
io
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o
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t
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ata
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h
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ig
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E
m
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ed
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ed
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t
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n
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les
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ab
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icall
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u
r
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4
ill
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ates t
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ig
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Fig
u
r
e
4
.
Flex
io
n
at
0
-
140
°
; (
a)
T
h
in
g
Sp
ea
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)
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h
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g
Vi
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w
3
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4
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2
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pea
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x
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iti
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ai
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t (
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°).
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
Dev
elo
p
men
t o
f in
tern
et
o
f th
i
n
g
s
-
b
a
s
ed
ex
o
s
ke
leto
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mo
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ito
r
in
g
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o
w
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Gee
va
n
th
r
a
n
A
/L V
eg
u
r
g
a
ma
)
559
T
h
is
d
ata
w
as
a
n
al
y
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s
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g
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o
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p
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ch
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ea
k
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d
v
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alize
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th
r
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g
h
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x
ce
l
an
d
th
e
T
h
in
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Vie
w
m
o
b
ile
ap
p
licatio
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Fi
g
u
r
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5
ill
u
s
tr
ates
t
h
e
ex
ten
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io
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d
ata
d
is
p
la
y
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ac
r
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ec
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Fi
g
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r
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5
(
a)
s
h
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ti
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m
,
w
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Fi
g
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r
e
5
(
b
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p
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t
h
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s
a
m
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ata
v
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s
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a
liz
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o
n
th
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h
in
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w
m
o
b
ile
ap
p
licatio
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h
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f
i
g
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r
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e
m
o
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ate
t
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s
y
s
te
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s
ca
p
ab
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ase
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h
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n
ex
er
ci
s
es
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ea
l
ti
m
e.
(
a)
(
b
)
Fig
u
r
e
5
.
Flex
io
n
at
0
-
140
°
; (
a)
T
h
in
g
Sp
ea
k
a
n
d
(
b
)
T
h
in
g
Vi
e
w
3
.
4
.
3
.
Ro
t
a
t
e
s
er
v
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us
ing
B
ly
n
k
Fo
r
p
atien
ts
u
n
ab
le
to
m
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c
h
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tr
o
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atie
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o
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ased
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u
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ial
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.
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h
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atien
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y
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ica
ll
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el
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y
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io
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ly
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k
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m
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h
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d
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atien
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,
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iated
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r
r
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at
a
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m
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l
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a
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itted
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ito
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P
atien
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clin
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g
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ap
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ate
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a
n
d
r
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ab
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p
r
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d
etail.
Fig
u
r
e
6
illu
s
tr
ates
th
e
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te
m
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n
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n
d
its
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ito
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tatio
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e
f
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ec
if
icall
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Fi
g
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r
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6
(
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Fig
u
r
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6
(
b
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d
is
p
lay
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t
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r
r
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ized
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d
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r
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g
th
e
r
eh
ab
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n
p
r
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ce
s
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
,
Vo
l.
1
5
,
No
.
2
,
J
u
l
y
202
6
:
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-
5
6
2
560
(
a)
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b
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Fig
u
r
e
6
.
Data
v
is
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aliza
tio
n
; (
a)
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ly
n
k
a
n
d
(
b
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T
h
in
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Sp
ea
k
4.
CO
NCLU
SI
O
N
T
h
e
I
o
T
-
b
ased
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ex
o
s
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e
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n
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ed
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ct
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ar
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s
a
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ig
n
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ica
n
t
ad
v
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ce
m
en
t
in
r
eh
ab
ilit
atio
n
tec
h
n
o
lo
g
y
,
en
a
b
lin
g
r
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l
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ti
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e
m
o
n
ito
r
in
g
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d
ass
is
ta
n
ce
f
o
r
p
atien
ts
r
ec
o
v
er
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g
f
r
o
m
elb
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w
in
j
u
r
ies.
Ut
ilizi
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g
a
No
d
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C
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E
SP
8
2
6
6
m
icr
o
co
n
tr
o
ller
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t
h
e
d
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p
r
o
v
id
es
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e
m
o
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ac
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ess
to
r
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ab
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itatio
n
d
ata
f
o
r
h
ea
lt
h
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r
e
p
r
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s
,
en
h
a
n
ci
n
g
b
o
t
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p
atien
t
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e
n
t
a
n
d
t
h
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ef
f
ec
ti
v
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n
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o
f
r
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itatio
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.
P
o
s
iti
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