System Performance Analysis of the Shoulder Elbow Perturbator

Jonathan C. Van Zanten; Karien Ter Welle; Claudia J.W. Haarman; Alfred C. Schouten; Mark Van De Ruit; Winfred Mugge; Arno H.A. Stienen

doi:10.1109/ICORR66766.2025.11063005

System Performance Analysis of the Shoulder Elbow Perturbator

Jonathan C. Van Zanten, Karien Ter Welle, Claudia J.W. Haarman, Alfred C. Schouten, Mark Van De Ruit, Winfred Mugge, Arno H.A. Stienen^*

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

Abstract

To increase the quality of life of stroke patients, better diagnostics with the ability to identify the cause of motor impairment are needed. Robotic diagnostics increases the resolution of measurements, allows for tracking progress over a longer period, and can be used to evaluate new treatments. The Shoulder Elbow Perturbator (SEP) was developed to improve the diagnostics of post-stroke motor impairment. The SEP has already been tested on patients, showing promising results in identifying the cause of motor impairment, but no SEP system performance analysis has been published. To identify the joint properties of the elbow accurately, the SEP should have a bandwidth of at least 12 Hz. Furthermore, admittance and velocity control are required for various possible experimental tasks. This paper shows that the SEP performs adequately for the desired perturbations and experimental conditions for system identification of the human elbow. The SEP's performance is analysed with multisine signals to determine the bandwidth and endpoint dynamics. The velocity controller bandwidth is 50 Hz, and the admittance controller bandwidth is 65 Hz. Furthermore, the controller is stable. Thus, the SEP meets all the requirements and should be able to provide the desired perturbations and experimental conditions needed for system identification of the human elbow.

Original language	English
Title of host publication	Proceedings of the International Conference on Rehabilitation Robotics, ICORR 2025
Publisher	IEEE
Pages	346-351
Number of pages	6
ISBN (Electronic)	979-8-3503-8068-2
DOIs	https://doi.org/10.1109/ICORR66766.2025.11063005
Publication status	Published - 2025
Event	2025 International Conference on Rehabilitation Robotics, ICORR 2025 - Chicago, United States Duration: 12 May 2025 → 16 May 2025

Publication series

Name	IEEE International Conference on Rehabilitation Robotics
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

Conference

Conference	2025 International Conference on Rehabilitation Robotics, ICORR 2025
Country/Territory	United States
City	Chicago
Period	12/05/25 → 16/05/25

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/publishing/publisher-deals
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

(Haptic) Manipulator
rehabilitation robotics
Shoulder Elbow Perturbator
spasticity
stroke

Access to Document

10.1109/ICORR66766.2025.11063005

Cite this

Van Zanten, J. C., Ter Welle, K., Haarman, C. J. W., Schouten, A. C., Van De Ruit, M., Mugge, W., & Stienen, A. H. A. (2025). System Performance Analysis of the Shoulder Elbow Perturbator. In Proceedings of the International Conference on Rehabilitation Robotics, ICORR 2025 (pp. 346-351). (IEEE International Conference on Rehabilitation Robotics). IEEE. https://doi.org/10.1109/ICORR66766.2025.11063005

@inproceedings{242647c2b019472ebed31596d600d56a,

title = "System Performance Analysis of the Shoulder Elbow Perturbator",

abstract = "To increase the quality of life of stroke patients, better diagnostics with the ability to identify the cause of motor impairment are needed. Robotic diagnostics increases the resolution of measurements, allows for tracking progress over a longer period, and can be used to evaluate new treatments. The Shoulder Elbow Perturbator (SEP) was developed to improve the diagnostics of post-stroke motor impairment. The SEP has already been tested on patients, showing promising results in identifying the cause of motor impairment, but no SEP system performance analysis has been published. To identify the joint properties of the elbow accurately, the SEP should have a bandwidth of at least 12 Hz. Furthermore, admittance and velocity control are required for various possible experimental tasks. This paper shows that the SEP performs adequately for the desired perturbations and experimental conditions for system identification of the human elbow. The SEP's performance is analysed with multisine signals to determine the bandwidth and endpoint dynamics. The velocity controller bandwidth is 50 Hz, and the admittance controller bandwidth is 65 Hz. Furthermore, the controller is stable. Thus, the SEP meets all the requirements and should be able to provide the desired perturbations and experimental conditions needed for system identification of the human elbow.",

keywords = "(Haptic) Manipulator, rehabilitation robotics, Shoulder Elbow Perturbator, spasticity, stroke",

author = "{Van Zanten}, {Jonathan C.} and {Ter Welle}, Karien and Haarman, {Claudia J.W.} and Schouten, {Alfred C.} and {Van De Ruit}, Mark and Winfred Mugge and Stienen, {Arno H.A.}",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/publishing/publisher-deals Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2025 International Conference on Rehabilitation Robotics, ICORR 2025 ; Conference date: 12-05-2025 Through 16-05-2025",

year = "2025",

doi = "10.1109/ICORR66766.2025.11063005",

language = "English",

series = "IEEE International Conference on Rehabilitation Robotics",

publisher = "IEEE",

pages = "346--351",

booktitle = "Proceedings of the International Conference on Rehabilitation Robotics, ICORR 2025",

address = "United States",

}

Van Zanten, JC , Ter Welle, K, Haarman, CJW, Schouten, AC , Van De Ruit, M , Mugge, W & Stienen, AHA 2025, System Performance Analysis of the Shoulder Elbow Perturbator. in Proceedings of the International Conference on Rehabilitation Robotics, ICORR 2025. IEEE International Conference on Rehabilitation Robotics, IEEE, pp. 346-351, 2025 International Conference on Rehabilitation Robotics, ICORR 2025, Chicago, United States, 12/05/25. https://doi.org/10.1109/ICORR66766.2025.11063005

System Performance Analysis of the Shoulder Elbow Perturbator. / Van Zanten, Jonathan C.; Ter Welle, Karien; Haarman, Claudia J.W. et al.
Proceedings of the International Conference on Rehabilitation Robotics, ICORR 2025. IEEE, 2025. p. 346-351 (IEEE International Conference on Rehabilitation Robotics).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Schouten, Alfred C.

AU - Van De Ruit, Mark

AU - Mugge, Winfred

AU - Stienen, Arno H.A.

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/publishing/publisher-deals Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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N2 - To increase the quality of life of stroke patients, better diagnostics with the ability to identify the cause of motor impairment are needed. Robotic diagnostics increases the resolution of measurements, allows for tracking progress over a longer period, and can be used to evaluate new treatments. The Shoulder Elbow Perturbator (SEP) was developed to improve the diagnostics of post-stroke motor impairment. The SEP has already been tested on patients, showing promising results in identifying the cause of motor impairment, but no SEP system performance analysis has been published. To identify the joint properties of the elbow accurately, the SEP should have a bandwidth of at least 12 Hz. Furthermore, admittance and velocity control are required for various possible experimental tasks. This paper shows that the SEP performs adequately for the desired perturbations and experimental conditions for system identification of the human elbow. The SEP's performance is analysed with multisine signals to determine the bandwidth and endpoint dynamics. The velocity controller bandwidth is 50 Hz, and the admittance controller bandwidth is 65 Hz. Furthermore, the controller is stable. Thus, the SEP meets all the requirements and should be able to provide the desired perturbations and experimental conditions needed for system identification of the human elbow.

AB - To increase the quality of life of stroke patients, better diagnostics with the ability to identify the cause of motor impairment are needed. Robotic diagnostics increases the resolution of measurements, allows for tracking progress over a longer period, and can be used to evaluate new treatments. The Shoulder Elbow Perturbator (SEP) was developed to improve the diagnostics of post-stroke motor impairment. The SEP has already been tested on patients, showing promising results in identifying the cause of motor impairment, but no SEP system performance analysis has been published. To identify the joint properties of the elbow accurately, the SEP should have a bandwidth of at least 12 Hz. Furthermore, admittance and velocity control are required for various possible experimental tasks. This paper shows that the SEP performs adequately for the desired perturbations and experimental conditions for system identification of the human elbow. The SEP's performance is analysed with multisine signals to determine the bandwidth and endpoint dynamics. The velocity controller bandwidth is 50 Hz, and the admittance controller bandwidth is 65 Hz. Furthermore, the controller is stable. Thus, the SEP meets all the requirements and should be able to provide the desired perturbations and experimental conditions needed for system identification of the human elbow.

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KW - spasticity

KW - stroke

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BT - Proceedings of the International Conference on Rehabilitation Robotics, ICORR 2025

PB - IEEE

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Y2 - 12 May 2025 through 16 May 2025

ER -

System Performance Analysis of the Shoulder Elbow Perturbator

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