Upper Limb Multi-Joint Impedance Measurement Apparatus
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Solution Overview
Problem
Conventional methods for measuring upper limb impedance are subjective, unreliable, and limited to single-degree-of-freedom measurements, making it difficult to accurately assess multi-joint impedance, which is crucial for rehabilitation, and existing robotic solutions are cumbersome and unsafe for clinical use.
Innovation Solution
A multi-joint impedance measurement apparatus that applies perturbations to the upper limb using a driver and sensors to detect force and position data, calculating mechanical impedance in three dimensions and incorporating biosignal filtering for accurate results, with a compact design suitable for clinical use.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional subjective methods are used to measure upper limb impedance, then the measurement can be performed with simple tools, but the reliability and accuracy of the measurement is low
Solution Approach 1:
The patent replaces the mechanical/manual measurement system with an automated robotic system equipped with sensors. The robotic arm applies controlled perturbations to the patient's upper limb while force sensors and position sensors automatically detect the mechanical impedance characteristics, eliminating the need for manual clinician assessment and improving measurement reliability.
Solution Approach 2:
The measurement system performs self-measurement through automated detection. The robotic system applies perturbations and the sensors automatically detect force and position data without requiring clinician intervention during the actual measurement process, enabling objective and repeatable impedance assessment.
2Measurement precision
If robotic systems are used to measure upper limb impedance, then measurement accuracy and reliability improve, but the system becomes too large and complex for clinical use
Solution Approach 1:
The robotic measurement system is divided into separate functional modules: a robotic arm for applying perturbations, force sensors for detecting applied forces, position sensors for detecting limb displacement, and a control system. This segmentation allows each component to be optimized independently and facilitates a more compact overall design suitable for clinical environments.
Solution Approach 2:
The robotic system is designed to perform multiple functions: applying controlled perturbations for impedance measurement, collecting force data, collecting position data, and processing measurement results. This multi-functionality reduces the need for separate specialized equipment and streamlines the overall system for clinical use.
3Adaptability or versatility
If conventional manual measurement methods are used, then only single-degree-of-freedom impedance can be measured, but multi-joint impedance assessment is required for comprehensive rehabilitation evaluation
Solution Approach 1:
The system transitions from measuring single-degree-of-freedom impedance to measuring multi-degree-of-freedom impedance by applying perturbations in multiple spatial dimensions. The robotic arm can apply forces in different directions while sensors detect responses across multiple joints, enabling comprehensive assessment of upper limb impedance in three-dimensional space.
Solution Approach 2:
The system uses feedback from force sensors and position sensors to automatically adjust and interpret measurement data. The control system receives real-time feedback about the patient's limb response to perturbations and processes this information to calculate impedance characteristics across multiple joints and degrees of freedom, simplifying the measurement procedure while enhancing comprehensive assessment capability.
Data Source
AI summary
The present disclosure relates to an upper limb multi-joint impedance measurement method and an apparatus using the same. An upper limb multi-joint impedance measurement apparatus includes an upper limb end connector connected to an end of an upper limb of a subject, a driver configured to drive the upper limb end connector so that the upper limb end connector applies perturbations to the end of the upper limb of the subject, a measurement controller configured to provide the driver with a control signal for the perturbations, a force sensor configured to detect a magnitude of a perturbation force applied to the end of the upper limb of the subject by the upper limb end connector, a position sensor configured to detect a variation of a position of the upper limb end connector according to the applied perturbations, an impedance calculator configured to calculate a mechanical impedance of the upper limb of the subject by using force data and position data indicating the detected magnitude of the force and the detected variation of the position, and an impedance output unit configured to output an output signal indicating a value of the calculated mechanical impedance.