Fig 1.
Training in manual examination techniques using a wearable knee joint.
Left: Healthy person wearing the robotic knee joint. Right: Trainee therapist
Fig 2.
Structure of wearable knee joint.
Table 1.
Modified Ashworth scale as described in the source article [19].
Table 2.
Parameter sets of simulated spasticity.
Fig 3.
Sample resistance torques and knee angular velocities of simulated spasticity.
S0: Simulated healthy knee without apparent resistance. S2 and S4: Knees with resistances for which the velocity-dependent components were obvious. S6 and S8: Knees with resistances sufficiently large to impede angular velocity. The black and gray curves respectively represent the observed and set torques, and er is the maximum and mean errors between the two.
Table 3.
Response ratios for each simulated spasticity.
Fig 4.
Sample resistance torques and knee angular velocities of the five types of simulated symptoms.
The black and gray curves respectively represent the measured and set torques. er indicates the maximum and mean errors between the two values. Overall, the measured torques are in adequate agreement with the set values.
Table 4.
Results of the classification of the five types of simulated symptoms (mean ± standard deviation of the answer ratios of the nine assessors).