The SE-AssessWrist for robot-aided assessment of wrist stiffness and range of motion: Development and experimental validation

Erwin, Andrew; McDonald, Craig G.; Moser, Nicholas; O’Malley, Marcia K.

doi:10.1177/2055668320985774

Cited by 6 publications

(3 citation statements)

References 41 publications

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“…All the above studies have in common use of several tools to achieve the safety required by the medical procedure. The safety may be achieved through an effective correlation between the kinematics of the medical robot [18][19][20][21][22][23] and the control system [24][25][26][27][28][29][30][31] used to actuate the robotic structure with respect to human-robot interactions [32][33][34][35].…”

Section: Introductionmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure.

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Section: Introductionmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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“…However, the concurrent validity between the robot-assisted technique and standard assessment methods needs to be further validated. A. Erwin et al [24] extends the capabilities of the existing robotic device SE-Assessment Wrist to achieve the complete wrist ROM assessment besides stiffness evaluation, while the future investigations still are needed to further investigate the reliability of these measurements. Therefore, robot-assisted measurements for the biomechanical properties, such as the ROM, stiffness, usually are based on the already developed robot system, and in this way, the time cost ,the accuracy and consistency of these measurement are considerable acceptable.…”

Section: Discussionmentioning

confidence: 99%

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Dong

Zhang

et al. 2022

J. Phys.: Conf. Ser.

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Axis alignment between human and robot has been a research hotspot in wearable rehabilitation robots and has a significant effects on full natural ranges of motion (ROM) during robot-assisted training exercises. Self-alignment mechanism (SAM) has been extensively applied on the rehabilitation robots to adaptively compensate the axis misalignment between human anatomic and robot mechanical joints. However, the effects of the SAM on the wrist ROM have not been definitely assessed. In this study, we implemented a SAM on a wrist rehabilitation device (WReD II), and the SAM was specially designed to be locked or unlocked to achieve self-alignment function or not according to demands. To assess the effects of SAM on the wrist passive ROM of extension/flexion (E/F), passive training experiments involving 8 healthy participants were conducted by locking or unlocking the SAM respectively. Surface Electromyography (sEMG) was applied to monitor muscle activity during experiments. During the experiments, the wrist passive ROM were measured by applying the robot-assisted assessment technique. Preliminary results show that the means of the passive ROM have a maximum increase of 19.78° in the case with SAM unlocked when compared to the case with SAM locked. Statistical results indicated high test-retest reliability of the passive ROM measurements with intraclass correlation coefficient ICC (2,1) more than 0.82, and standard error of measurement (SEM) less than 3.2°. These findings suggest that the implement of SAM on the rehabilitation robots has great potentials due to its feasibility and reliability to obtain larger natural passive ROM.

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“…Specifically, several papers computed the viscoelastic properties at the wrist joint along different directions. They all concluded that the minor axis of the stiffness was directed along radial extension–ulnar flexion, a direction known as the motion of dart thrower’s wrist and oriented obliquely to the anatomical axes ( Crisco et al, 2011 ; Formica et al, 2012 ; Erwin et al, 2021 ). Thus, it would be interesting to test our protocol along the other directions of wrist movement and try to compare the results.…”

Section: Discussionmentioning

confidence: 99%

Evaluating Viscoelastic Properties of the Wrist Joint During External Perturbations: Influence of Velocity, Grip, and Handedness

Falzarano

Holmes

Masia

et al. 2021

Front. Hum. Neurosci.

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In this study, we designed a robot-based method to compute a mechanical impedance model that could extract the viscoelastic properties of the wrist joint. Thirteen subjects participated in the experiment, testing both dominant and nondominant hands. Specifically, the robotic device delivered position-controlled disturbances in the flexion-extension degree of freedom of the wrist. The external perturbations were characterized by small amplitudes and fast velocities, causing rotation at the wrist joint. The viscoelastic characteristics of the mechanical impedance of the joint were evaluated from the wrist kinematics and corresponding torques. Since the protocol used position inputs to determine changes in mean wrist torque, a detailed analysis of wrist joint dynamics could be made. The scientific question was whether and how these mechanical features changed with various grip demands and perturbation velocities. Nine experimental conditions were tested for each hand, given by the combination of three velocity perturbations (fast, medium, and slow) and three hand grip conditions [self-selected grip, medium and high grip force, as percentage of the maximum voluntary contraction (MVC)]. Throughout the experiments, electromyographic signals of the extensor carpi radialis (ECR) and the flexor carpi radialis (FCR) were recorded. The novelty of this work included a custom-made soft grip sensor, wrapped around the robotic handle, to accurately quantify the grip force exerted by the subjects during experimentation. Damping parameters were in the range of measurements from prior studies and consistent among the different experimental conditions. Stiffness was independent of both direction and velocity of perturbations and increased with increasing grip demand. Both damping and stiffness were not different between the dominant and nondominant hands. These results are crucial to improving our knowledge of the mechanical characteristics of the wrist, and how grip demands influence these properties. This study is the foundation for future work on how mechanical characteristics of the wrist are affected in pathological conditions.

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The SE-AssessWrist for robot-aided assessment of wrist stiffness and range of motion: Development and experimental validation

Cited by 6 publications

References 41 publications

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Evaluating Viscoelastic Properties of the Wrist Joint During External Perturbations: Influence of Velocity, Grip, and Handedness

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