Robot-based methodology for a kinematic and kinetic analysis of unconstrained, but reproducible upper extremity movement.
Robot-based methodology for a kinematic and kinetic analysis of unconstrained, but reproducible upper extremity movement.
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基于机器人的方法，用于对不受约束但可重复的上肢运动进行运动学和动力学分析
DOI：
10.1016/j.jbiomech.2009.03.042
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发表时间：
2009
影响因子：
2.4
通讯作者：
Disselhorst-Klug C.
中科院分区：
文献类型：
--
作者：
Popovic N;Williams S;Schmitz-Rode T;Disselhorst-Klug C.
虽然手臂运动在日常生活中扮演着重要的角色，但仍然缺乏分析上肢运动的程序。标准化程序的主要问题是手臂动作的多样性和外部手力的难以评估。第一个问题需要预先定义运动，第二个问题是计算运动过程中产生的净关节力和扭矩的前提。介绍并验证了一种在预先指定的、可重复的上肢运动中测量外力的新方法。机器人手臂被用来定义运动，并在其上安装了6自由度(DoF)力传感器，以获取作用在手臂上的外部载荷。此外，力反馈还被用来帮助保持外部载荷恒定。通过使用相关系数来比较目标引导的运动和机器人引导的任务，来评估关节角度的个体内重复性。使用两种运动的关节角度的平均标准差来评估个体间的重复性。结果表明，使用该机器人后，个体间和个体内的重复性都有显著提高。此外，还展示了使用力反馈来保持外载荷恒定的有效性。这使得估计净关节力和扭矩成为可能，它们是运动分析中的重要生物力学信息。
Although arm movements play an important role in everyday life, there is still a lack of procedures for the analysis of upper extremity movement. The main problems for standardizing the procedure are the variety of arm movements and the difficult assessment of external hand forces. The first problem requires the predefinition of motions, and the second one is the prerequisite for calculation of net joint forces and torques arising during motion. A new methodology for measuring external forces during prespecified, reproducible upper extremity movement has been introduced and validated. A robot-arm has been used to define the motion and 6 degrees of freedom (DoF) force sensor has been attached to it for acquiring the external loads acting on the arm. Additionally, force feedback has been used to help keeping external loads constant. Intra-individual reproducibility of joint angles was estimated by using correlation coefficients to compare a goal-directed movement with robot-guided task. Inter-individual reproducibility has been evaluated by using the mean standard deviation of joint angles for both types of movement. The results showed that both inter- and intra-individual reproducibility have significantly improved by using the robot. Also, the effectiveness of using force feedback for keeping a constant external load has been shown. This makes it possible to estimate net joint forces and torques which are important biomechanical information in motion analysis.
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影响因子：
2.4
作者：
Sybele Williams;R. Schmidt;C. Disselhorst;G. Rau
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DOI：
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发表时间：
1995
期刊：
Proceedings of 17th International Conference of the Engineering in Medicine and Biology Society
影响因子：
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作者：
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通讯作者：
R. Cooper
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DOI：
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发表时间：
1950
期刊：
Journal of Fluids Engineering
影响因子：
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作者：
B. Bresler
通讯作者：
B. Bresler
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影响因子：
3
作者：
R. Riener;A. Straube
通讯作者：
A. Straube
DOI：
10.1109/86.662623
发表时间：
1998-03-01
期刊：
IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
--
作者：
Krebs, H I;Hogan, N;Volpe, B T
通讯作者：
Volpe, B T