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Finger Joint Impedance Control Applications To Investigate Spasticity, David Naisby Paglia

Theses

In order to investigate how spasticity disrupts the capabilities of the human body, a better understanding of how joint impedance control operates in healthy individuals is necessary. In this investigation, a second order rotary torque model was implemented to investigate the impedances at the metacarpophalangeal (MCP) joint of the index finger. The model was fit to approximately 25 milliseconds of force and displacement data to determine the mechanical impedances at the finger tip. Ranges of damping and stiffness were optimized over a range of mean finger tip force (0-12 N) for extension. The equilibrium-point hypothesis was examined when compared to …