In Vivo Estimation of Human Forearm and Wrist Dynamic Properties.

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IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, ISSN: 1558-0210, Vol: 25, Issue: 5, Page: 436-446

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Park, Kyungbin, Chang, Pyung-Hun, Kang, Sang Hoon
Institute of Electrical and Electronics Engineers (IEEE), IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Coupled dynamics, forearm and wrist 3 degree-of-freedom (DOF) impedance, linear dynamics, stochastic estimation
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It is important to estimate the 3 degree-of-freedom (DOF) impedance of human forearm and wrist (i.e., forearm prono-supination, and wrist flexion-extension and radial-ulnar deviation) in motor control and in the diagnosis of altered mechanical resistance following stroke. There is, however, a lack of methods to characterize 3 DOF impedance. Thus, we developed a reliable and accurate impedance estimation method, the distal internal model based impedance control (dIMBIC)-based method, to characterize the 3 DOF impedance, including cross-coupled terms between DOFs, for the first time. Its accuracy and reliability were experimentally validated using a robot with substantial nonlinear joint friction. The 3 DOF human forearm and wrist impedance of eight healthy subjects was reliably characterized, and its linear behavior was verified. Thus, the dIMBIC-based method can provide us with 3 DOF forearm and wrist impedance regardless of nonlinear robot joint friction. It is expected that, with the proposed method, the 3 DOF impedance estimation can promote motor control studies and complement the diagnosis of altered wrist and forearm resistance post-stroke by providing objective impedance estimates, including cross-coupled terms.