Clasp-Knife Model of Muscle Spasticity for Simulation of Robot-Human Interaction
Document Type
Article
Publication Date
1-1-2019
Abstract
The objective of this research was to replicate the muscle tone moment feedback of elbow upon passive mobilization and classify them based on modified ashworth scale criterion using a mathematical model. The proposed model enables the visualization of muscle tone pattern for robotic interaction simulation. A concurrent muscle tone model necessitates a jerk effect to fully replicate the catch and release effect, also known as, clasp-knife phenomenon of muscle tone feedback. However, the research of passive mobilization control interaction between robot and subject does not emulate such phenomenon. Thus, the model was improvised to replicate the clasp-knife phenomenon according to the robot's gross kinematics and dynamics. The model was designed based on the quantitative pattern of muscle tone feedback from subject with spasticity. The simulated model was then correlated to clinical measures using similar kinematic and dynamic input. The velocity dynamic input was splined to obtain the velocity trend without the jerk effect. The results obtained from the proposed model were relatively promising with an overall (n=9× 4) linear (Pearson) correlated average of -r=0.8348 for nine subjects with correlation significant at the 0.01 level (p< 0.01) and five of them presented a distinctive clasp-knife phenomenon with correlation average of -r=0.8631. © 2018 IEEE.
Keywords
biomedical engineering, mathematics, Modeling, motion analysis
Divisions
fac_med
Funders
E-Science Grant through the Ministry of Science, Technology and Innovation, Malaysia, under Grant SF15-015-0065
Publication Title
IEEE Access
Volume
7
Publisher
Institute of Electrical and Electronics Engineers