Real-time Measurement of Arm's Mechanical Impedance with Augmented Reality Illustration

Abstract

achieve a lowssessment of motor functions in patients with stroke or other diseases is widely based on subjective and qualitative methods such as Fugl-Meyer. Robotic technology has been utilized to overcome the shortcomings of the traditional methods; the robots are costly thus they are not broadly used. Use of robotic technology has shown that mechanical impedance of a musculoskeletal system is an important signature in assessing the motor function [1], [2]. Mechanical impedance of arm is posture dependant and can be represented by an ellipse. The direction of major axis of the ellipse shows the direction at which impedance is maximal. This work presents the design and development of a hand-held portable device which measures the mechanical impedance of human arm by applying active perturbations to the hand. I