Proximodistal Gradient in the Perception of Delayed Stiffness

Ilana Nisky; Amir Karniel

doi:10.1109/ICVR.2009.5174214

Proximodistal Gradient in the Perception of Delayed Stiffness

Ilana Nisky, Amir Karniel

Department of Biomedical Engineering

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

3 Scopus citations

Abstract

Introduction of successful telerehabilitation into the variety of techniques that are available to the therapist will forever change the field of rehabilitation. Accurate perception of the remote environment's mechanical properties and of stiffness in particular is extremely important for successful telerehabilitation. In the current study we present the framework for exploring perception of delayed stiffness when probing is executed using movement with different joints, and provide experimental results supporting the existence of proximodistal gradient in the perception of delayed stiffness. We found that delayed stiffness was underestimated to a larger extent after probing with wrist than with elbow. We suggest that the observed gradient in perception reveals a proximodistal gradient in control: proximal joints are dominated by force control, whereas distal joints are dominated by position control.

Original language	English
Title of host publication	2009 Virtual Rehabilitation International Conference, VR 2009
Publisher	Institute of Electrical and Electronics Engineers
Pages	105-110
Number of pages	6
ISBN (Print)	9781424441891
DOIs	https://doi.org/10.1109/ICVR.2009.5174214
State	Published - 12 Nov 2009
Event	2009 Virtual Rehabilitation International Conference, VR 2009 - Haifa, Israel Duration: 29 Jun 2009 → 2 Jul 2009

Conference

Conference	2009 Virtual Rehabilitation International Conference, VR 2009
Country/Territory	Israel
City	Haifa
Period	29/06/09 → 2/07/09

Keywords

Delay
Force control
Haptics
Human motor control
Impedance control
Perception
Position control
Proximodistal gradient
Stiffness
Telerehabilitation

ASJC Scopus subject areas

Artificial Intelligence
Software
Biomedical Engineering

Access to Document

10.1109/ICVR.2009.5174214

Cite this

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title = "Proximodistal Gradient in the Perception of Delayed Stiffness",

abstract = "Introduction of successful telerehabilitation into the variety of techniques that are available to the therapist will forever change the field of rehabilitation. Accurate perception of the remote environment's mechanical properties and of stiffness in particular is extremely important for successful telerehabilitation. In the current study we present the framework for exploring perception of delayed stiffness when probing is executed using movement with different joints, and provide experimental results supporting the existence of proximodistal gradient in the perception of delayed stiffness. We found that delayed stiffness was underestimated to a larger extent after probing with wrist than with elbow. We suggest that the observed gradient in perception reveals a proximodistal gradient in control: proximal joints are dominated by force control, whereas distal joints are dominated by position control.",

keywords = "Delay, Force control, Haptics, Human motor control, Impedance control, Perception, Position control, Proximodistal gradient, Stiffness, Telerehabilitation",

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AU - Karniel, Amir

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AB - Introduction of successful telerehabilitation into the variety of techniques that are available to the therapist will forever change the field of rehabilitation. Accurate perception of the remote environment's mechanical properties and of stiffness in particular is extremely important for successful telerehabilitation. In the current study we present the framework for exploring perception of delayed stiffness when probing is executed using movement with different joints, and provide experimental results supporting the existence of proximodistal gradient in the perception of delayed stiffness. We found that delayed stiffness was underestimated to a larger extent after probing with wrist than with elbow. We suggest that the observed gradient in perception reveals a proximodistal gradient in control: proximal joints are dominated by force control, whereas distal joints are dominated by position control.

KW - Delay

KW - Force control

KW - Haptics

KW - Human motor control

KW - Impedance control

KW - Perception

KW - Position control

KW - Proximodistal gradient

KW - Stiffness

KW - Telerehabilitation

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ER -

Proximodistal Gradient in the Perception of Delayed Stiffness

Abstract

Conference

Keywords

ASJC Scopus subject areas

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