A novel mechatronic system for measuring end-point stiffness: mechanical design and preliminary tests.
IEEE Int Conf Rehabil Robot
; 2011: 5975515, 2011.
Article
em En
| MEDLINE
| ID: mdl-22275711
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.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Braço
Limite:
Humans
Idioma:
En
Revista:
IEEE Int Conf Rehabil Robot
Ano de publicação:
2011
Tipo de documento:
Article
País de afiliação:
Itália