Stochastic Estimation of Arm Mechanical Impedance During Robotic Stroke Rehabilitation

@article{citeulike:1296553, 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}, author = {Palazzolo, Jerome J. and Ferraro, Mark and Krebs, Hermano I. and Lynch, Daniel and Volpe, Bruce T. and Hogan, Neville }, citeulike-article-id = {1296553}, journal = {Neural Systems and Rehabilitation Engineering, IEEE Transactions on [see also IEEE Trans. on Rehabilitation Engineering]}, keywords = {rehabilitation\_robotics, stroke, stroke\_assessment}, number = {1}, pages = {94--103}, posted-at = {2007-05-16 18:57:55}, priority = {5}, title = {Stochastic Estimation of Arm Mechanical Impedance During Robotic Stroke Rehabilitation}, url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=4126543}, volume = {15}, year = {2007} }

TY - JOUR ID - citeulike:1296553 L3 - citeulike-article-id:1296553 TI - Stochastic Estimation of Arm Mechanical Impedance During Robotic Stroke Rehabilitation JF - Neural Systems and Rehabilitation Engineering, IEEE Transactions on [see also IEEE Trans. on Rehabilitation Engineering] VL - 15 IS - 1 SP - 94 EP - 103 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 - rehabilitation_robotics KW - stroke KW - stroke_assessment AU - Palazzolo, Jerome AU - Ferraro, Mark AU - Krebs, Hermano AU - Lynch, Daniel AU - Volpe, Bruce AU - Hogan, Neville PY - 2007/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4126543 ER -