a new myohaptic instrument to assess wrist motion dynamically一个新的myohaptic仪器动态评估手腕运动.pdfVIP

Sensors 2010, 10, 3180-3194; doi:10.3390/s100403180 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article A New Myohaptic Instrument to Assess Wrist Motion Dynamically Mario Manto 1,*, Niels Van Den Braber 2, Giuliana Grimaldi 3 and Piet Lammertse 2 1 FNRS, Neurologie ULB-Erasme, 808 Route de Lennik, 1070 Bruxelles, Belgium 2 Moog FCS, 2150 Ad Nieuw-Vennep, The Netherlands; E-Mails: nvandenbraber@ (N.V.D.B.); plammertse@ (P.L.) 3 Neurologie, ULB Erasme, 808 Route de Lennik, 1070 Bruxelles, Belgium; E-Mail: giulanagrim@yahoo.it (G.G.) * Author to whom correspondence should be addressed; E-Mail: mmanto@ulb.ac.be; Tel.: +32-2-555-39-92; Fax: +32-2-555-39-92. Received: 19 January 2010; in revised form: 11 February 2010 / Accepted: 24 March 2010 / Published: 1 April 2010 Abstract: The pathophysiological assessment of joint properties and voluntary motion in neurological patients remains a challenge. This is typically the case in cerebellar patients, who exhibit dysmetric movements due to the dysfunction of cerebellar circuitry. Several tools have been developed, but so far most of these tools have remained confined to laboratories, with a lack of standardization. We report on a new device which combines the use of electromyographic (EMG) sensors with haptic technology for the dynamic investigation of wrist properties. The instrument is composed of a drivetrain, a haptic controller and a signal acquisition unit. Angular accuracy is