TY - GEN
T1 - Validation of a Novel Parallel-Actuated Shoulder Exoskeleton Robot for the Characterization of Human Shoulder Impedance
AU - Chang, Dongjune
AU - Hunt, Justin
AU - Atkins, John
AU - Lee, Hyunglae
N1 - Funding Information:
Research supported by National Science Foundation Award #1846885 and #1925110. Dongjune Chang, Justin Hunt, John Atkins, and Hyunglae Lee are with School for Engineering of Matter, Transport and Energy, Arizona State
Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - This study validates the effectiveness of a recently developed parallel-actuated shoulder exoskeleton robot for the purpose of characterizing the neuromuscular properties of the human shoulder joint. In particular, shoulder mechanical impedance was quantified, which can be represented by a 2nd order system consisting of spring, damper and inertia. The shoulder exoskeleton robot, which utilizes a new type of 4-bar spherical parallel manipulator (4B-SPM), has inherently low inertia and as a result can provide fast perturbations that are often essential for characterizing neuromuscular properties. The robot was first evaluated by using a physical shoulder mockup with adjustable and known spring and mass properties. The results of the mockup test confirmed the reliability of the robot for the characterization of the mockup properties. Stiffness of the tested springs was accurately quantified with an error of less than 1.6 Nm/rad in any of the tested conditions. A pilot study with 5 human subjects further confirmed that the robot could be successfully used to quantify multi-dimensional human shoulder impedance in both pitch and yaw directions with high reliability (R2 > 0.97). The average human shoulder stiffness and damping at around the neutral arm posture under low muscle activation (< 5% maximum voluntary contraction) were 30.9 Nm/rad and 3.0 Nms/rad, respectively.
AB - This study validates the effectiveness of a recently developed parallel-actuated shoulder exoskeleton robot for the purpose of characterizing the neuromuscular properties of the human shoulder joint. In particular, shoulder mechanical impedance was quantified, which can be represented by a 2nd order system consisting of spring, damper and inertia. The shoulder exoskeleton robot, which utilizes a new type of 4-bar spherical parallel manipulator (4B-SPM), has inherently low inertia and as a result can provide fast perturbations that are often essential for characterizing neuromuscular properties. The robot was first evaluated by using a physical shoulder mockup with adjustable and known spring and mass properties. The results of the mockup test confirmed the reliability of the robot for the characterization of the mockup properties. Stiffness of the tested springs was accurately quantified with an error of less than 1.6 Nm/rad in any of the tested conditions. A pilot study with 5 human subjects further confirmed that the robot could be successfully used to quantify multi-dimensional human shoulder impedance in both pitch and yaw directions with high reliability (R2 > 0.97). The average human shoulder stiffness and damping at around the neutral arm posture under low muscle activation (< 5% maximum voluntary contraction) were 30.9 Nm/rad and 3.0 Nms/rad, respectively.
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U2 - 10.1109/ICRA48506.2021.9561776
DO - 10.1109/ICRA48506.2021.9561776
M3 - Conference contribution
AN - SCOPUS:85125461409
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 11560
EP - 11565
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -