A geometric framework for the estimation of joint stiffness of the human wrist | IEEE Conference Publication | IEEE Xplore

A geometric framework for the estimation of joint stiffness of the human wrist


Abstract:

Estimating joint stiffness is of paramount importance for studying human motor control and for clinical assessment of neurological diseases. Usually stiffness estimation ...Show More

Abstract:

Estimating joint stiffness is of paramount importance for studying human motor control and for clinical assessment of neurological diseases. Usually stiffness estimation is performed using cumbersome instrumentations (e.g. robots), and by approximating robot joint angles and torques to the human ones. This paper proposes a methodology and an experimental setup to measure wrist joint stiffness in unstructured environments, with the twofold aim of: 1) providing a geometric framework in order to derive angular displacements and torques at the wrist Flexion/Extension (FE) and Radial/Ulnar Deviation (RUD) axes of rotation, using a subject specific kinematic model; 2) suggesting an experimental setup made of two portable sensors for motion tracking and one load cell, to allow for measurements in out-of-the-lab scenarios. We tested our method on a hardware mockup of wrist kinematics, providing a ground truth for estimated angles and torques at FE and RUD joints. The experimental validation showed average absolute errors in FE and RUD angles of 0.005 rad and 0.0167 rad respectively, and an average error of FE and RUD torques of 0.006 Nm and 0.003 Nm.
Date of Conference: 24-28 June 2019
Date Added to IEEE Xplore: 29 July 2019
ISBN Information:

ISSN Information:

PubMed ID: 31374622
Conference Location: Toronto, ON, Canada

References

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