A novel mechatronic system for measuring end-point stiffness: mechanical design and preliminary tests.
Identifieur interne : 000C84 ( PubMed/Corpus ); précédent : 000C83; suivant : 000C85A novel mechatronic system for measuring end-point stiffness: mechanical design and preliminary tests.
Auteurs : L. Masia ; 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
Links to Exploration step
pubmed:22275711Le document en format XML
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Sandini</name></author><author><name sortKey="Morasso, P G" sort="Morasso, P G" uniqKey="Morasso P" first="P G" last="Morasso">P G Morasso</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2011">2011</date><idno type="doi">10.1109/ICORR.2011.5975515</idno><idno type="RBID">pubmed:22275711</idno><idno type="pmid">22275711</idno><idno type="wicri:Area/PubMed/Corpus">000C84</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A novel mechatronic system for measuring end-point stiffness: mechanical design and preliminary tests.</title><author><name sortKey="Masia, L" sort="Masia, L" uniqKey="Masia L" first="L" last="Masia">L. Masia</name><affiliation><nlm:affiliation>Italian Institute of Technology, Robotics Brain and Cognitive Sciences Dept., Genoa, Italy. lorenzo.masia@iit.it</nlm:affiliation></affiliation></author><author><name sortKey="Sandini, G" sort="Sandini, G" uniqKey="Sandini G" first="G" last="Sandini">G. Sandini</name></author><author><name sortKey="Morasso, P G" sort="Morasso, P G" uniqKey="Morasso P" first="P G" last="Morasso">P G Morasso</name></author></analytic><series><title level="j">IEEE ... International Conference on Rehabilitation Robotics : [proceedings]</title><idno type="eISSN">1945-7901</idno><imprint><date when="2011" type="published">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Arm (physiology)</term><term>Biomechanical Phenomena</term><term>Equipment Design</term><term>Humans</term><term>Models, Theoretical</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Arm</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Biomechanical Phenomena</term><term>Equipment Design</term><term>Humans</term><term>Models, Theoretical</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">22275711</PMID><DateCreated><Year>2012</Year><Month>01</Month><Day>25</Day></DateCreated><DateCompleted><Year>2012</Year><Month>07</Month><Day>19</Day></DateCompleted><DateRevised><Year>2013</Year><Month>11</Month><Day>21</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1945-7901</ISSN><JournalIssue CitedMedium="Internet"><Volume>2011</Volume><PubDate><Year>2011</Year></PubDate></JournalIssue><Title>IEEE ... International Conference on Rehabilitation Robotics : [proceedings]</Title><ISOAbbreviation>IEEE Int Conf Rehabil Robot</ISOAbbreviation></Journal><ArticleTitle>A novel mechatronic system for measuring end-point stiffness: mechanical design and preliminary tests.</ArticleTitle><Pagination><MedlinePgn>5975515</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1109/ICORR.2011.5975515</ELocationID><Abstract><AbstractText>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.</AbstractText><CopyrightInformation>© 2011 IEEE</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Masia</LastName><ForeName>L</ForeName><Initials>L</Initials><AffiliationInfo><Affiliation>Italian Institute of Technology, Robotics Brain and Cognitive Sciences Dept., Genoa, Italy. lorenzo.masia@iit.it</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Sandini</LastName><ForeName>G</ForeName><Initials>G</Initials></Author><Author ValidYN="Y"><LastName>Morasso</LastName><ForeName>P G</ForeName><Initials>PG</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>IEEE Int Conf Rehabil Robot</MedlineTA><NlmUniqueID>101260913</NlmUniqueID><ISSNLinking>1945-7898</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001132">Arm</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D008962">Models, Theoretical</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2012</Year><Month>1</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2012</Year><Month>1</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2012</Year><Month>7</Month><Day>20</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/ICORR.2011.5975515</ArticleId><ArticleId IdType="pubmed">22275711</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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