Assessing Wrist Movement With Robotic Devices

Rose, Chad G.; Pezent, Evan; Kann, Claudia; Deshpande, Ashish D.; O’Malley, Marcia K.

doi:10.1109/tnsre.2018.2853143

Cited by 23 publications

(15 citation statements)

References 43 publications

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“…The accuracy observed for Harmony cannot be generalized for all upper-extremity exoskeletons, but the discrepancies observed suggest that similar comparisons should be followed to characterize their accuracy. Although some studies rely on the robot's anatomical measurements [42], such an analysis is under-represented in the literature, and is mostly limited to forearm and wrist [43]. Attempts to predict established clinical outcomes with anatomical joint angles [42] have found low correlation with shoulder angles, which could be related to low measurement accuracy.…”

Section: Discussionmentioning

confidence: 99%

Assessment of Upper-Extremity Joint Angles Using Harmony Exoskeleton

Oliveira

Sulzer

Deshpande

2021

IEEE Trans. Neural Syst. Rehabil. Eng.

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The biomechanical complexity of the human shoulder, while critical for functionality, poses a challenge for objective assessment during sensorimotor rehabilitation. With built-in sensing capabilities, robotic exoskeletons have the potential to serve as tools for both intervention and assessment. The bilateral upper-extremity Harmony exoskeleton is capable of full shoulder articulation, forearm flexion-extension, and wrist pronationsupination motions. The goal of this paper is to characterize Harmony's anatomical joint angle tracking accuracy towards its use as an assessment tool. We evaluated the agreement between anatomical joint angles estimated from the robot's sensor data and optical motion capture markers attached to the human user. In 9 healthy participants we examined 6 upper-extremity joint angles, including shoulder girdle angles, across 4 different motions, varying active/passive motion of the user and physical constraint of the trunk. We observed mostly good to excellent levels of agreement between measurement systems with CM Cip>0.65 for shoulder and distal joints, magnitudes of average discrepancies varying from 0.43 • to 16.03 • and width of LoAs ranging between 9.44 • and 41.91 • . Slopes were between 1.03 and 1.43 with r>0.9 for shoulder and distal joints. Regression analysis suggested that discrepancies observed between measured robot and human motions were primarily due to relative motion associated with soft tissue deformation. The results suggest that the Harmony exoskeleton is capable of providing accurate measurements of arm and shoulder joint kinematics. These findings may lead to robot-assisted assessment and intervention of one of the most complex joint structures in the human body.

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Section: Discussionmentioning

confidence: 99%

Assessment of Upper-Extremity Joint Angles Using Harmony Exoskeleton

Oliveira

Sulzer

Deshpande

2021

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…Meanwhile, the soft exoskeleton has better comfort and portability for daily wearing. And the lightweight isotropic device is an important trend for daily activities [16] . Therefore, some soft wrist exoskeletons were developed.…”

Section: Motion Trajectory Experimentsmentioning

confidence: 99%

“…However, the UHD only can assist joints to move the horizontal plane, which cannot meet the normal range of ADLs. This limitation was overcome by a wrist exoskeleton, Rice-Wrist [15,16] . This exoskeleton encompasses most of the Journal of Bionic Engineering (2020) Vol.17 No. 2 natural human space.…”

Section: Introductionmentioning

confidence: 99%

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Yang

et al. 2020

J Bionic Eng

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Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia. Unfortunately, poor human-machine physiological coupling causes unexpected damage to human of muscles and joints. Moreover, inferior humanoid kinematics control would restrict human natural kinematics. Failing to deal with these problems results in bottlenecks and hinders its application. In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction. Firstly, we simplified the redundant muscular system related to the wrist joint from ten muscles to four, so as to realize the human-robot physiological coupling. Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist. The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3% and 35.6%, respectively. Additionally, the humanoid motion trajectories similarity of the robot reached 91.5%. Stroke patients could recover 90.3% of natural motion ability to satisfy for most daily activities. This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

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“…Although it has been demonstrated that proprioception of distal joints is particularly involved in fine manipulation of daily living activities (Hoseini et al, 2015;Ponassi et al, 2018), scientific literature primarily reports contributions focused on proprioception at the level of proximal upper limb (shoulder and elbow). Previous research focused on distal joints, with particular emphasis on wrist's proprioceptive functions (Aman et al, 2015;Rose et al, 2018). In particular, concerning our group, we extensively tested proprioceptive acuity using a device named WristBot (Masia et al, 2009), which allows for the implementation of a widely used test for the assessment of position sense (Cappello et al, 2015), the Joint Position Matching (JPM) paradigm (Goble, 2010): the test is run in absence of visual feedback and evaluates the proprioception by quantifying the accuracy in replicating a joint posture (proprioceptive target), previously imposed as angular displacement.…”

Section: Introductionmentioning

confidence: 99%

Robotic Assessment of Wrist Proprioception During Kinaesthetic Perturbations: A Neuroergonomic Approach

et al. 2021

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Position sense refers to an aspect of proprioception crucial for motor control and learning. The onset of neurological diseases can damage such sensory afference, with consequent motor disorders dramatically reducing the associated recovery process. In regular clinical practice, assessment of proprioceptive deficits is run by means of clinical scales which do not provide quantitative measurements. However, existing robotic solutions usually do not involve multi-joint movements but are mostly applied to a single proximal or distal joint. The present work provides a testing paradigm for assessing proprioception during coordinated multi-joint distal movements and in presence of kinaesthetic perturbations: we evaluated healthy subjects' ability to match proprioceptive targets along two of the three wrist's degrees of freedom, flexion/extension and abduction/adduction. By introducing rotations along the pronation/supination axis not involved in the matching task, we tested two experimental conditions, which differed in terms of the temporal imposition of the external perturbation: in the first one, the disturbance was provided after the presentation of the proprioceptive target, while in the second one, the rotation of the pronation/ supination axis was imposed during the proprioceptive target presentation. We investigated if (i) the amplitude of the perturbation along the pronation/supination would lead to proprioceptive miscalibration; (ii) the encoding of proprioceptive target, would be influenced by the presentation sequence between the target itself and the rotational disturbance. Eighteen participants were tested by means of a haptic neuroergonomic wrist device: our findings provided evidence that the order of disturbance presentation does not alter proprioceptive acuity. Yet, a further effect has been noticed: proprioception is highly anisotropic and dependent on perturbation amplitude. Unexpectedly, the configuration of the forearm highly influences sensory feedbacks, and significantly alters subjects' performance in matching the proprioceptive targets, defining portions of the wrist workspace where kinaesthetic and proprioceptive acuity are more sensitive. This finding may suggest solutions and applications in multiple fields: from general haptics where, knowing how wrist configuration influences proprioception, might suggest new neuroergonomic solutions in device design, to clinical evaluation after neurological damage, where accurately assessing proprioceptive deficits can dramatically complement regular therapy for a better prediction of the recovery path.

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Assessing Wrist Movement With Robotic Devices

Cited by 23 publications

References 43 publications

Assessment of Upper-Extremity Joint Angles Using Harmony Exoskeleton

Assessment of Upper-Extremity Joint Angles Using Harmony Exoskeleton

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Robotic Assessment of Wrist Proprioception During Kinaesthetic Perturbations: A Neuroergonomic Approach

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