Dynamic Biomechanical Model for Assessing and Monitoring Robot-Assisted Upper-Limb TherapyBy Abdullah, Hussein A., PhD, PEng; Tarry, Cole, BSc; Datta, Rahul, BSc; Mittal, Gauri S., PhD, PEng; Abderrahim, Mohamed, PhD; Journal of Rehabilitation Research and Development, Vol. 44, No. 1, pp. 43-62
Publication Date: 2007
Article describes a dynamic biomechanical model that assesses and monitors trajectory, position, orientation, force, and torque generated by upper-limb (UL) movement during robot-assisted therapy. The model consists of 2 links that represent the upper arm and forearm, with 5 degrees of freedom (DOF) for the shoulder and elbow joints. The individualized inertial segment parameters and masses were based on anthropometric data. Real-time fused biofeedback of a 6-DOF force sensor and three-dimensional (3-D) pose sensors supported the model validations and application. The force sensor was mounted between the robot manipulator and the subject’s wrist, while the 3-D pose sensors were fixed at specific positions on the subject’s UL segments. Twenty non-disabled subjects were assigned 3 different therapy exercises to test and validate the model. Results showed that when the biomechanical model is taught an exercise, it can accurately predict a subject’s actual UL joint angles and torques and confirm that the exercise is isolating the desired movement. The model could be a useful tool for enhancing the functionality of post-stroke robot-assisted UL therapy.
VA Rehabilitation Research & Development Service (Web Site: http://www.rehab.research.va.gov )