Stochastic estimation of arm mechanical impedance during robotic stroke rehabilitation.

@article{citeulike:2888467, abstract = {This paper presents a stochastic method to estimate the multijoint mechanical impedance of the human arm suitable for use in a clinical setting, e.g., with persons with stroke undergoing robotic rehabilitation for a paralyzed arm. In this context, special circumstances such as hypertonicity and tissue atrophy due to disuse of the hemiplegic limb must be considered. A low-impedance robot was used to bring the upper limb of a stroke patient to a test location, generate force perturbations, and measure the resulting motion. Methods were developed to compensate for input signal coupling at low frequencies apparently due to human-machine interaction dynamics. Data was analyzed by spectral procedures that make no assumption about model structure. The method was validated by measuring simple mechanical hardware and results from a patient's hemiplegic arm are presented.}, address = {Massachusetts Institute of Technology, Department of Mechanical Engineering, Newman Laboratory for Biomechanics and Human Rehabilitation, Cambridge, MA 02139, USA. jjpalazz@alum.mit.edu}, author = {Palazzolo, J. J. and Ferraro, M. and Krebs, H. I. and Lynch, D. and Volpe, B. T. and Hogan, N. }, citeulike-article-id = {2888467}, doi = {http://dx.doi.org/10.1109/TNSRE.2007.891392}, issn = {1534-4320}, journal = {IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society}, keywords = {impedance\_control, rehab\_robots}, month = {March}, number = {1}, pages = {94--103}, posted-at = {2008-06-12 15:21:27}, priority = {2}, title = {Stochastic estimation of arm mechanical impedance during robotic stroke rehabilitation.}, url = {http://dx.doi.org/10.1109/TNSRE.2007.891392}, volume = {15}, year = {2007} }

TY - JOUR ID - citeulike:2888467 L3 - citeulike-article-id:2888467 TI - Stochastic estimation of arm mechanical impedance during robotic stroke rehabilitation. JF - IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society VL - 15 IS - 1 SP - 94 EP - 103 AD - Massachusetts Institute of Technology, Department of Mechanical Engineering, Newman Laboratory for Biomechanics and Human Rehabilitation, Cambridge, MA 02139, USA. jjpalazz@alum.mit.edu SN - 1534-4320 N2 - This paper presents a stochastic method to estimate the multijoint mechanical impedance of the human arm suitable for use in a clinical setting, e.g., with persons with stroke undergoing robotic rehabilitation for a paralyzed arm. In this context, special circumstances such as hypertonicity and tissue atrophy due to disuse of the hemiplegic limb must be considered. A low-impedance robot was used to bring the upper limb of a stroke patient to a test location, generate force perturbations, and measure the resulting motion. Methods were developed to compensate for input signal coupling at low frequencies apparently due to human-machine interaction dynamics. Data was analyzed by spectral procedures that make no assumption about model structure. The method was validated by measuring simple mechanical hardware and results from a patient's hemiplegic arm are presented. KW - impedance_control KW - rehab_robots AU - Palazzolo, JJ AU - Ferraro, M AU - Krebs, HI AU - Lynch, D AU - Volpe, BT AU - Hogan, N PY - 2007/03// UR - http://dx.doi.org/10.1109/TNSRE.2007.891392 ER -