Influence of planar manipulandum to the hand trajectory during point to point movement

Miloš D. Kostić; Dejan B. Popović; Mirjana B. Popović

doi:10.1109/ICORR.2011.5975396

Influence of planar manipulandum to the hand trajectory during point to point movement

Miloš D. Kostić^*
, Dejan B. Popović
, Mirjana B. Popović

^*Corresponding author for this work

University of Belgrade
Aalborg University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Citations (Scopus)

Abstract

We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the therapy of stroke patients. We found significant differences between the preferred trajectories and the deviations from the preferred trajectories (p<0.01) when moving with and without the manipulandum. This result suggests that for the design of the controller of a robot assistant inertial properties of the robot mechanism must be considered even in the case that it is used only for the assessment (passive) or within the bio-feedback.

Original language	English
Title of host publication	2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOIs	https://doi.org/10.1109/ICORR.2011.5975396
Publication status	Published - 2011
Externally published	Yes
Event	Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland Duration: 27 Jun 2011 → 1 Jul 2011

Publication series

Name	IEEE International Conference on Rehabilitation Robotics
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

Conference

Conference	Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
Country/Territory	Switzerland
City	Zurich
Period	27/06/11 → 1/07/11

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

control
haptic robot
inertia
movement

Access to Document

10.1109/ICORR.2011.5975396

Cite this

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title = "Influence of planar manipulandum to the hand trajectory during point to point movement",

abstract = "We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the therapy of stroke patients. We found significant differences between the preferred trajectories and the deviations from the preferred trajectories (p<0.01) when moving with and without the manipulandum. This result suggests that for the design of the controller of a robot assistant inertial properties of the robot mechanism must be considered even in the case that it is used only for the assessment (passive) or within the bio-feedback.",

keywords = "control, haptic robot, inertia, movement",

author = "Kosti{\'c}, \{Milo{\v s} D.\} and Popovi{\'c}, \{Dejan B.\} and Popovi{\'c}, \{Mirjana B.\}",

year = "2011",

doi = "10.1109/ICORR.2011.5975396",

language = "English",

isbn = "9781424498628",

series = "IEEE International Conference on Rehabilitation Robotics",

booktitle = "2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011",

note = "Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 ; Conference date: 27-06-2011 Through 01-07-2011",

}

Kostić, MD, Popović, DB & Popović, MB 2011, Influence of planar manipulandum to the hand trajectory during point to point movement. in 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011., 5975396, IEEE International Conference on Rehabilitation Robotics, Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011, Zurich, Switzerland, 27/06/11. https://doi.org/10.1109/ICORR.2011.5975396

Influence of planar manipulandum to the hand trajectory during point to point movement. / Kostić, Miloš D.; Popović, Dejan B.; Popović, Mirjana B.
2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011. 2011. 5975396 (IEEE International Conference on Rehabilitation Robotics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Influence of planar manipulandum to the hand trajectory during point to point movement

AU - Kostić, Miloš D.

AU - Popović, Dejan B.

AU - Popović, Mirjana B.

PY - 2011

Y1 - 2011

N2 - We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the therapy of stroke patients. We found significant differences between the preferred trajectories and the deviations from the preferred trajectories (p<0.01) when moving with and without the manipulandum. This result suggests that for the design of the controller of a robot assistant inertial properties of the robot mechanism must be considered even in the case that it is used only for the assessment (passive) or within the bio-feedback.

AB - We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the therapy of stroke patients. We found significant differences between the preferred trajectories and the deviations from the preferred trajectories (p<0.01) when moving with and without the manipulandum. This result suggests that for the design of the controller of a robot assistant inertial properties of the robot mechanism must be considered even in the case that it is used only for the assessment (passive) or within the bio-feedback.

KW - control

KW - haptic robot

KW - inertia

KW - movement

UR - https://www.scopus.com/pages/publications/80055048692

U2 - 10.1109/ICORR.2011.5975396

DO - 10.1109/ICORR.2011.5975396

M3 - Conference contribution

C2 - 22275599

AN - SCOPUS:80055048692

SN - 9781424498628

T3 - IEEE International Conference on Rehabilitation Robotics

BT - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011

T2 - Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011

Y2 - 27 June 2011 through 1 July 2011

ER -

Influence of planar manipulandum to the hand trajectory during point to point movement

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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