Clasp-knife model of muscle spasticity for simulation of robot-human interaction

The objective of this research was to replicate the muscle tone moment feedback of elbow upon passive mobilisation and classify them based on Modified Ashworth Scale (MAS) criterion using a mathematical model. The proposed model enables visualisation of muscle tone pattern for robot...

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Main Authors:	Mat Rosly, Muhammad Hadi, Sidek, Shahrul Na'im, Ahmad Puzi, Asmarani, Md. Yusof, Hazlina, Daud, Narimah, Mat Rosly, Maziah
Format:	Article
Language:	English English English
Published:	Institute of Electrical and Electronics Engineers Inc. 2019
Subjects:	T Technology (General) TJ181 Mechanical movements
Online Access:	http://irep.iium.edu.my/65848/ http://irep.iium.edu.my/65848/ http://irep.iium.edu.my/65848/ http://irep.iium.edu.my/65848/1/65848_Clasp-knife%20model%20of%20muscle%20spasticity.pdf http://irep.iium.edu.my/65848/2/65848_Clasp-knife%20model%20of%20muscle%20spasticity_SCOPUS.pdf http://irep.iium.edu.my/65848/3/65848_Clasp-knife%20model%20of%20muscle%20spasticity_WOS.pdf

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spelling	iium-658482019-03-11T07:11:35Z http://irep.iium.edu.my/65848/ Clasp-knife model of muscle spasticity for simulation of robot-human interaction Mat Rosly, Muhammad Hadi Sidek, Shahrul Na'im Ahmad Puzi, Asmarani Md. Yusof, Hazlina Daud, Narimah Mat Rosly, Maziah T Technology (General) TJ181 Mechanical movements The objective of this research was to replicate the muscle tone moment feedback of elbow upon passive mobilisation and classify them based on Modified Ashworth Scale (MAS) criterion using a mathematical model. The proposed model enables visualisation of muscle tone pattern for robotic interaction simulation. Concurrent muscle tone model necessitates jerk effect to fully replicate the catch and release effect, also known as, clasp-knife phenomenon of muscle tone feedback. However, the research of passive mobilisation control interaction between robot and subject does not emulate such phenomenon. Thus, the model was improvised to replicate the clasp-knife phenomenon according to the robot’s gross kinematics and dynamics. The model was designed based on the quantitative pattern of muscle tone feedback from subject with spasticity. The simulated model was then correlated to clinical measures using similar kinematic and dynamic input. The velocity dynamic input was splined to obtain the velocity trend without the jerk effect. The results obtained from the proposed model were relatively promising with an overall (n=9×4) linear (Pearson) correlated average of r =0.8348 for nine subjects with correlation significant at the 0.01 level (p<0.01) and five of them presented a distinctive clasp-knife phenomenon with correlation average of r =0.8631. Institute of Electrical and Electronics Engineers Inc. 2019 Article PeerReviewed application/pdf en http://irep.iium.edu.my/65848/1/65848_Clasp-knife%20model%20of%20muscle%20spasticity.pdf application/pdf en http://irep.iium.edu.my/65848/2/65848_Clasp-knife%20model%20of%20muscle%20spasticity_SCOPUS.pdf application/pdf en http://irep.iium.edu.my/65848/3/65848_Clasp-knife%20model%20of%20muscle%20spasticity_WOS.pdf Mat Rosly, Muhammad Hadi and Sidek, Shahrul Na'im and Ahmad Puzi, Asmarani and Md. Yusof, Hazlina and Daud, Narimah and Mat Rosly, Maziah (2019) Clasp-knife model of muscle spasticity for simulation of robot-human interaction. IEEE Access, 7. pp. 1355-1364. E-ISSN 2169-3536 https://ieeexplore.ieee.org/document/8382150/definitions?anchor=definitions 10.1109/ACCESS.2018.2846595
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	T Technology (General) TJ181 Mechanical movements
spellingShingle	T Technology (General) TJ181 Mechanical movements Mat Rosly, Muhammad Hadi Sidek, Shahrul Na'im Ahmad Puzi, Asmarani Md. Yusof, Hazlina Daud, Narimah Mat Rosly, Maziah Clasp-knife model of muscle spasticity for simulation of robot-human interaction
description	The objective of this research was to replicate the muscle tone moment feedback of elbow upon passive mobilisation and classify them based on Modified Ashworth Scale (MAS) criterion using a mathematical model. The proposed model enables visualisation of muscle tone pattern for robotic interaction simulation. Concurrent muscle tone model necessitates jerk effect to fully replicate the catch and release effect, also known as, clasp-knife phenomenon of muscle tone feedback. However, the research of passive mobilisation control interaction between robot and subject does not emulate such phenomenon. Thus, the model was improvised to replicate the clasp-knife phenomenon according to the robot’s gross kinematics and dynamics. The model was designed based on the quantitative pattern of muscle tone feedback from subject with spasticity. The simulated model was then correlated to clinical measures using similar kinematic and dynamic input. The velocity dynamic input was splined to obtain the velocity trend without the jerk effect. The results obtained from the proposed model were relatively promising with an overall (n=9×4) linear (Pearson) correlated average of r =0.8348 for nine subjects with correlation significant at the 0.01 level (p<0.01) and five of them presented a distinctive clasp-knife phenomenon with correlation average of r =0.8631.
format	Article
author	Mat Rosly, Muhammad Hadi Sidek, Shahrul Na'im Ahmad Puzi, Asmarani Md. Yusof, Hazlina Daud, Narimah Mat Rosly, Maziah
author_facet	Mat Rosly, Muhammad Hadi Sidek, Shahrul Na'im Ahmad Puzi, Asmarani Md. Yusof, Hazlina Daud, Narimah Mat Rosly, Maziah
author_sort	Mat Rosly, Muhammad Hadi
title	Clasp-knife model of muscle spasticity for simulation of robot-human interaction
title_short	Clasp-knife model of muscle spasticity for simulation of robot-human interaction
title_full	Clasp-knife model of muscle spasticity for simulation of robot-human interaction
title_fullStr	Clasp-knife model of muscle spasticity for simulation of robot-human interaction
title_full_unstemmed	Clasp-knife model of muscle spasticity for simulation of robot-human interaction
title_sort	clasp-knife model of muscle spasticity for simulation of robot-human interaction
publisher	Institute of Electrical and Electronics Engineers Inc.
publishDate	2019
url	http://irep.iium.edu.my/65848/ http://irep.iium.edu.my/65848/ http://irep.iium.edu.my/65848/ http://irep.iium.edu.my/65848/1/65848_Clasp-knife%20model%20of%20muscle%20spasticity.pdf http://irep.iium.edu.my/65848/2/65848_Clasp-knife%20model%20of%20muscle%20spasticity_SCOPUS.pdf http://irep.iium.edu.my/65848/3/65848_Clasp-knife%20model%20of%20muscle%20spasticity_WOS.pdf
first_indexed	2023-09-18T21:33:25Z
last_indexed	2023-09-18T21:33:25Z
_version_	1777412661822095360

Clasp-knife model of muscle spasticity for simulation of robot-human interaction

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