A geometric framework for the estimation of joint stiffness of the human wrist

Domenico Formica, Muhammad Azhar, Paolo Tommasino, Domenico Campolo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Estimating joint stiffness is of paramount importance for studying human motor control and for clinical assessment of neurological diseases. Usually stiffness estimation is performed using cumbersome instrumentations (e.g. robots), and by approximating robot joint angles and torques to the human ones. This paper proposes a methodology and an experimental setup to measure wrist joint stiffness in unstructured environments, with the twofold aim of: 1) providing a geometric framework in order to derive angular displacements and torques at the wrist Flexion/Extension (FE) and Radial/Ulnar Deviation (RUD) axes of rotation, using a subject specific kinematic model; 2) suggesting an experimental setup made of two portable sensors for motion tracking and one load cell, to allow for measurements in out-of-the-lab scenarios. We tested our method on a hardware mockup of wrist kinematics, providing a ground truth for estimated angles and torques at FE and RUD joints. The experimental validation showed average absolute errors in FE and RUD angles of 0.005 rad and 0.0167 rad respectively, and an average error of FE and RUD torques of 0.006 Nm and 0.003 Nm.

Original languageEnglish
Title of host publication2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
PublisherIEEE Computer Society
Pages151-156
Number of pages6
ISBN (Electronic)9781728127552
DOIs
Publication statusPublished - Jun 2019
Event16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 - Toronto, Canada
Duration: Jun 24 2019Jun 28 2019

Publication series

NameIEEE International Conference on Rehabilitation Robotics
Volume2019-June
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Conference

Conference16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
CountryCanada
CityToronto
Period6/24/196/28/19

Fingerprint

Torque
Wrist
Joints
Stiffness
Biomechanical Phenomena
Kinematics
Robots
Wrist Joint
Hardware
Sensors

Keywords

  • Geometric framework for modeling wrist kinematics
  • Stiffness estimation in unstructured environments
  • Wrist stiffness

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

Cite this

Formica, D., Azhar, M., Tommasino, P., & Campolo, D. (2019). A geometric framework for the estimation of joint stiffness of the human wrist. In 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019 (pp. 151-156). [8779380] (IEEE International Conference on Rehabilitation Robotics; Vol. 2019-June). IEEE Computer Society. https://doi.org/10.1109/ICORR.2019.8779380

A geometric framework for the estimation of joint stiffness of the human wrist. / Formica, Domenico; Azhar, Muhammad; Tommasino, Paolo; Campolo, Domenico.

2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society, 2019. p. 151-156 8779380 (IEEE International Conference on Rehabilitation Robotics; Vol. 2019-June).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Formica, D, Azhar, M, Tommasino, P & Campolo, D 2019, A geometric framework for the estimation of joint stiffness of the human wrist. in 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019., 8779380, IEEE International Conference on Rehabilitation Robotics, vol. 2019-June, IEEE Computer Society, pp. 151-156, 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019, Toronto, Canada, 6/24/19. https://doi.org/10.1109/ICORR.2019.8779380
Formica D, Azhar M, Tommasino P, Campolo D. A geometric framework for the estimation of joint stiffness of the human wrist. In 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society. 2019. p. 151-156. 8779380. (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2019.8779380
Formica, Domenico ; Azhar, Muhammad ; Tommasino, Paolo ; Campolo, Domenico. / A geometric framework for the estimation of joint stiffness of the human wrist. 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society, 2019. pp. 151-156 (IEEE International Conference on Rehabilitation Robotics).
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