A Caltech Library Service

Assessing Wrist Movement with Robotic Devices

Rose, Chad G. and Pezent, Evan and Kann, Claudia K. and Deshpande, Ashish D. and O'Malley, Marcia K. (2018) Assessing Wrist Movement with Robotic Devices. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 26 (8). pp. 1585-1595. ISSN 1534-4320. doi:10.1109/TNSRE.2018.2853143.

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item:


Robotic devices have been proposed to meet the rising need for high intensity, long duration, and goal-oriented therapy required to regain motor function after neurological injury. Complementing this application, exoskeletons can augment traditional clinical assessments through precise, repeatable measurements of joint angles and movement quality. These measures assume that exoskeletons are making accurate joint measurements with a negligible effect on movement. For the coupled and coordinated joints of the wrist and hand, the validity of these two assumptions cannot be established by characterizing the device in isolation. To examine these assumptions, we conducted three user-in-the-loop experiments with able-bodied participants. First, we compared robotic measurements to an accepted modality to determine the validity of joint- and trajectorylevel measurements. Then, we compared those movements to movements without the device to investigate the effects of device dynamic properties on wrist movement characteristics. Lastly, we investigated the effect of the device on coordination with a redundant, coordinated pointing task with the wrist and hand. For all experiments, smoothness characteristics were preserved in the robotic kinematic measurement and only marginally impacted by robot dynamics, validating the exoskeletons for use as assessment devices. Stemming from these results, we propose design guidelines for exoskeletal assessment devices.

Item Type:Article
Related URLs:
URLURL TypeDescription
Rose, Chad G.0000-0002-8616-393X
Pezent, Evan0000-0003-0725-4997
Kann, Claudia K.0000-0002-8318-4890
Deshpande, Ashish D.0000-0002-4152-5933
O'Malley, Marcia K.0000-0002-3563-1051
Additional Information:© 2018 IEEE. Manuscript received October 6, 2017; revised February 15, 2018; accepted June 27, 2018. Date of publication July 5, 2018; date of current version August 7, 2018. This work was supported by grants NSF-CPS-1135949/1135916, NSF-1250104, and NSTRF-NNX13AM70H. The authors would like to acknowledge Dr. Fabrizio Sergi for advice in the development of the experimental methods and Jennifer Sullivan for guidance on statistical analyses.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1250104
Subject Keywords:Robotic rehabilitation, exoskeleton, kinematic assessment, movement smoothness
Issue or Number:8
Record Number:CaltechAUTHORS:20180711-151908697
Persistent URL:
Official Citation:C. G. Rose, E. Pezent, C. K. Kann, A. D. Deshpande and M. K. O’Malley, "Assessing Wrist Movement With Robotic Devices," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 26, no. 8, pp. 1585-1595, Aug. 2018. doi: 10.1109/TNSRE.2018.2853143
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:87773
Deposited By: George Porter
Deposited On:11 Jul 2018 22:42
Last Modified:15 Nov 2021 20:51

Repository Staff Only: item control page