*Article* **Human Pose Detection for Robotic-Assisted and Rehabilitation Environments**

**Óscar G. Hernández, Vicente Morell, José L. Ramon and Carlos A. Jara \***

Human Robotics Group, University of Alicante, San Vicente del Raspeig, 03690 Alicante, Spain; oghernandez@unah.edu.hn (Ó.G.H.); vicente.morell@ua.es (V.M.); jl.ramon@ua.es (J.L.R.) **\*** Correspondence: carlos.jara@ua.es; Tel.: +34-965903400 (ext. 1094)

**Featured Application: The proposed technology is useful for the estimation of human biomarkers in rehabilitation processes or for any application that needs human pose estimation.**

**Abstract:** Assistance and rehabilitation robotic platforms must have precise sensory systems for human–robot interaction. Therefore, human pose estimation is a current topic of research, especially for the safety of human–robot collaboration and the evaluation of human biomarkers. Within this field of research, the evaluation of the low-cost marker-less human pose estimators of OpenPose and Detectron 2 has received much attention for their diversity of applications, such as surveillance, sports, videogames, and assessment in human motor rehabilitation. This work aimed to evaluate and compare the angles in the elbow and shoulder joints estimated by OpenPose and Detectron 2 during four typical upper-limb rehabilitation exercises: elbow side flexion, elbow flexion, shoulder extension, and shoulder abduction. A setup of two Kinect 2 RGBD cameras was used to obtain the ground truth of the joint and skeleton estimations during the different exercises. Finally, we provided a numerical comparison (RMSE and MAE) among the angle measurements obtained with OpenPose, Detectron 2, and the ground truth. The results showed how OpenPose outperforms Detectron 2 in these types of applications.

**Keywords:** human–robot interaction; human pose estimation; robotic rehabilitation
