[2021] Series Elastic Elbow Neurological Exam Training Simulator for Lead-pipe Rigidity

2021, Human Dynamics and Control Lab

K. G. Gim et al., "Development of a Series Elastic Elbow Neurological Exam Training Simulator for Lead-pipe Rigidity*," 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, https://ieeexplore.ieee.org/document/9560891

Series Elastic Elbow Neurological Exam Training Simulator is a 1-DOF kinesthetic force display device in the form of an arm training simulator that replicates the haptic feeling of lead-pipe rigidity in the elbow joint.

Patients with lead-pipe rigidity have uniformly elevated muscle tone throughout the range of motion, which is an important clinical sign for diagnosing Parkinson’s disease during a neurological examination. The simulator could provide training opportunities for healthcare trainees to learn and practice the assessment technique for lead-pipe rigidity.

The simulator was driven by a series elastic actuator in order to have more accurate joint torque control in a safe and cost-effective manner for rendering abnormal muscle resistance.

In order to fit the transmission and SEA into the human arm-shaped frame, we combined the linear SEA design with a slider-crank mechanism and timing belt pulley drive

A mathematical model of lead-pipe rigidity based on hyperbolic tangent was proposed to recreate the elevated muscle resistance at different Unified Parkinson’s Disease Rating Scale (UPDRS) 0-3. Performance of the simulator was evaluated through benchtop tests and rigidity simulation tests. Preliminary results suggested the simulator had good torque control accuracy (an average RMSE < 0.27 Nm) and good fidelity in mimicking clinically-measured lead-pipe rigidity at UPDRS 0-3.

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