Stochastic estimation of arm mechanical impedance during robotic stroke rehabilitation.
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.
Palazzolo
Jerome J
JJ
Massachusetts Institute of Technology, Department of Mechanical Engineering, Newman Laboratory for Biomechanics and Human Rehabilitation, Cambridge, MA 02139, USA. jjpalazz@alum.mit.edu
Ferraro
Mark
M
Krebs
Hermano Igo
HI
Lynch
Daniel
D
Volpe
Bruce T
BT
Hogan
Neville
N
D001132:Arm / Q000503:physiopathology*; D001696:Biomechanical Phenomena / Q000379:methods; D003198:Computer Simulation; D017097:Electric Impedance; D006801:Humans; D008954:Models, Biological; D009068:Movement; D010291:Paresis / Q000209:etiology / Q000503:physiopathology* / Q000534:rehabilitation*; D026741:Physical Therapy Modalities; D012371:Robotics / Q000379:methods*; D013269:Stochastic Processes; D013314:Stress, Mechanical; D020521:Stroke / Q000150:complications / Q000503:physiopathology*; D000071939:Stroke Rehabilitation; D013813:Therapy, Computer-Assisted / Q000379:methods