Lorenzo Masia

Fast Estimation Of Muscular Stiffness

DESCRIPTION
Measuring the endpoint stiffness of the human arm in different tasks, including human-robot or human-human interaction, is crucial for understanding the neural control of movement and the corresponding learning process during skill acquisition (normal subjects) or functional recovery (neurological patients). However, it is a complex and time consuming procedure. Most systems described in the literature use planar robotic manipulanda and the estimates obtained in this way are still considered robust and accurate, although with rather strong limitations in terms of speed and bandwidth. For this reason a novel mechatronic device was designed that carries out endpoint estimation directly, in a single trial within a fraction of a second.  The device can be operated in a stand-alone configuration or can be mounted on a robotic manipulandum, allowing to perform the measurement during the execution of a dynamic task. The device consists of a rotary mechanism which applies cyclic radial perturbations to the human arm with a preset displacement profile and measures the corresponding restoring force by means of a 6-axes load cell. It was tested in different experimental contexts and the outcomes suggest that the system is not only reliable in standalone mode but allows obtaining a reliable bi-dimensional estimation of arm stiffness when plugged in a planar manipulandum, dramatically reducing the amount of time for measurement and allowing to decouple the two controllers of the planar manipulator on which is mounted and the device itself.
figure 1a

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REFERENCE

Masia L., Sandini G. and Morasso P. ‘A novel mechatronic system for measuring end-point stiffness: Mechanical design and preliminary tests’. IEEE ICORR, June 29-July 1th 2011, Zurich, Switzerland (BEST PAPER AWARD).

Masia, L.; Squeri, V., "A Modular Mechatronic Device for Arm Stiffness Estimation in Human–Robot Interaction," in Mechatronics, IEEE/ASME Transactions on , vol.20, no.5, pp.2053-2066, Oct. 2015

Masia L., Squeri V., Sandini G. and Morasso P. ‘Measuring end-point stiffness by means of a modular mechatronic system’. Accepted for publication on IEEE ICRA 2012

 

Conference

IEEE BIOROB 2016 (clickhere)

 

Editors

  • L. Masia, Nanyang Tech. University
  • S. Kukreja, National University of Singapore

 

 


New Journal on Rehabilitation Technology

Journal of Rehabilitation and Assistive Technologies Engineering (click here)

Lorenzo MASIA (Associate Editor)

 

 

Journal Topics

Research Topic (click here)

 

 

Red

IEEE ICORR 2015

International Conference on Rehabilitation Robotics

Singapore 11th-14th August 2015 Hosted by NTU

General Chair: Wei Tech ANG

Program Chair: Lorenzo MASIA

 

Conference

Lorenzo MASIA Editor of Biorob 2014

 

 

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