A novel mechatronic system for measuring end-point stiffness: mechanical design and preliminary tests.
Identifieur interne : 001E25 ( Ncbi/Checkpoint ); précédent : 001E24; suivant : 001E26A novel mechatronic system for measuring end-point stiffness: mechanical design and preliminary tests.
Auteurs : L. Masia [Italie] ; G. Sandini ; P G MorassoSource :
- IEEE ... International Conference on Rehabilitation Robotics : [proceedings] [ 1945-7901 ] ; 2011.
English descriptors
- KwdEn :
- MESH :
- physiology : Arm.
- Biomechanical Phenomena, Equipment Design, Humans, Models, Theoretical.
Abstract
Measuring arm stiffness is of great interest for many disciplines from biomechanics to medicine especially because modulation of impedance represents one of the main mechanism underlying control of movement and interaction with external environment. Previous works have proposed different methods to identify multijoint hand stiffness by using planar or even tridimensional haptic devices, but the associated computational burden makes them not easy to implement. We present a novel mechanism conceived for measuring multijoint planar stiffness by a single measurement and in a reduced execution time. A novel mechanical rotary device applies cyclic radial perturbation to human arm of a known displacement and the force is acquired by means of a 6-axes commercial load cell. The outcomes suggest that the system is not only reliable but allows obtaining a bi-dimensional estimation of arm stiffness in reduced amount of time and the results are comparable with those reported in previous researches.
DOI: 10.1109/ICORR.2011.5975515
PubMed: 22275711
Affiliations:
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pubmed:22275711Le document en format XML
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<author><name sortKey="Masia, L" sort="Masia, L" uniqKey="Masia L" first="L" last="Masia">L. Masia</name>
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<author><name sortKey="Sandini, G" sort="Sandini, G" uniqKey="Sandini G" first="G" last="Sandini">G. Sandini</name>
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<front><div type="abstract" xml:lang="en">Measuring arm stiffness is of great interest for many disciplines from biomechanics to medicine especially because modulation of impedance represents one of the main mechanism underlying control of movement and interaction with external environment. Previous works have proposed different methods to identify multijoint hand stiffness by using planar or even tridimensional haptic devices, but the associated computational burden makes them not easy to implement. We present a novel mechanism conceived for measuring multijoint planar stiffness by a single measurement and in a reduced execution time. A novel mechanical rotary device applies cyclic radial perturbation to human arm of a known displacement and the force is acquired by means of a 6-axes commercial load cell. The outcomes suggest that the system is not only reliable but allows obtaining a bi-dimensional estimation of arm stiffness in reduced amount of time and the results are comparable with those reported in previous researches.</div>
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