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This paper presents the design and validation of a wearable glove-based multi-finger motion capture device (SmartGlove) with a specific focus on the development of a new optical linear encoder (OLE). The OLE specially designed for this project has a compact size, light weight and low power consumption. The characterization tests also show that the OLE's digital output has good linearity and accuracy...
An automated tracking system was developed to measure the flexion-extension motion of lumbar vertebrae using the algorithm of Sequential Important Resampling Particle Filter. In vitro validity was performed in 10 samples under digitized video fluoroscopy. Each sample was taken 2 full flexion-extension cycles under a special guide device in fixed speed, while the calibration model of lumbar vertebrae...
This paper presents a recent study about a development of an original, cable-driven and compliant robotic wrist (ARTS wrist). The ARTS wrist presents two degrees of freedom; the mechanism is composed by two platforms connected by a thrust spring (working as a flexible joint) and by three cables placed and clamped corresponding to vertex of an equilateral triangle centred in the longitudinal axis of...
The purpose of this study was to find a reproducible estimate of passive wrist joint impedance. Six healthy subjects were exposed to constant velocity perturbations in flexion -extension and abduction -adduction. Subjects were asked not to interfere; absence of muscle activity was verified through EMG recordings. Torque / angle relations showed that the static impedance of the wrist joint could conveniently...
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