{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,5]],"date-time":"2026-09-05T16:56:15Z","timestamp":1788627375112,"version":"build-2803163510"},"reference-count":39,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2020,12,18]],"date-time":"2020-12-18T00:00:00Z","timestamp":1608249600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Bioeng. Biotechnol."],"abstract":"<jats:p>Stroke has been the leading cause of disability due to the induced spasticity in the upper extremity. The constant flexion of spastic fingers following stroke has not been well described. Accurate measurements for joint stiffness help clinicians have a better access to the level of impairment after stroke. Previously, we conducted a method for quantifying the passive finger joint stiffness based on the pressure-angle relationship between the spastic fingers and the soft-elastic composite actuator (SECA). However, it lacks a ground-truth to demonstrate the compatibility between the SECA-facilitated stiffness estimation and standard joint stiffness quantification procedure. In this study, we compare the passive metacarpophalangeal (MCP) joint stiffness measured using the SECA with the results from our designed standalone mechatronics device, which measures the passive metacarpophalangeal joint torque and angle during passive finger rotation. Results obtained from the fitting model that concludes the stiffness characteristic are further compared with the results obtained from SECA-Finger model, as well as the clinical score of Modified Ashworth Scale (MAS) for grading spasticity. These findings suggest the possibility of passive MCP joint stiffness quantification using the soft robotic actuator during the performance of different tasks in hand rehabilitation.<\/jats:p>","DOI":"10.3389\/fbioe.2020.592637","type":"journal-article","created":{"date-parts":[[2020,12,18]],"date-time":"2020-12-18T05:52:25Z","timestamp":1608270745000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":31,"title":["Verification of Finger Joint Stiffness Estimation Method With Soft Robotic Actuator"],"prefix":"10.3389","volume":"8","author":[{"given":"Xiang Qian","family":"Shi","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ho Lam","family":"Heung","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhi Qiang","family":"Tang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai Yu","family":"Tong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheng","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2020,12,18]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","DOI":"10.3389\/fneur.2019.00730","article-title":"Measurement properties of the NeuroFlexor device for quantifying neural and non-neural components of wrist hyper-resistance in chronic stroke.","volume":"10","author":"Andringa","year":"2019","journal-title":"Front. Neurol."},{"key":"B2","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1093\/ptj\/82.1.25","article-title":"Reliability of measurements obtained with the modified Ashworth scale in the lower extremities of people with stroke.","volume":"82","author":"Blackburn","year":"2002","journal-title":"Phys. Ther."},{"key":"B3","doi-asserted-by":"publisher","first-page":"391","DOI":"10.1109\/tnsre.2011.2157705","article-title":"Hand spring operated movement enhancer (HandSOME): a portable, passive hand exoskeleton for stroke rehabilitation.","volume":"19","author":"Brokaw","year":"2011","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"B4","doi-asserted-by":"publisher","first-page":"415","DOI":"10.1007\/978-1-4471-5451-8_105","article-title":"Interrater reliability of a modified Ashworth scale of muscle spasticity","author":"Charalambous","year":"2014","journal-title":"Classic Papers in Orthopaedics"},{"key":"B5","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1017\/s0012162201001761","article-title":"What does the Ashworth scale really measure and are instrumented measures more valid and precise?","volume":"44","author":"Damiano","year":"2002","journal-title":"Dev. Med. Child Neurol."},{"key":"B6","doi-asserted-by":"publisher","first-page":"586","DOI":"10.1109\/tbme.2011.2178240","article-title":"Contributions of intrinsic visco-elastic torques during planar index finger and wrist movements.","volume":"59","author":"Deshpande","year":"2011","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"B7","doi-asserted-by":"publisher","first-page":"573","DOI":"10.1016\/j.jhsa.2004.10.010","article-title":"Proximal interphalangeal joint stiffness: measurement and analysis.","volume":"30","author":"Dionysian","year":"2005","journal-title":"J. Hand Surg."},{"key":"B8","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1016\/0021-9290(95)00081-x","article-title":"An experimentally based nonlinear viscoelastic model of joint passive moment.","volume":"29","author":"Esteki","year":"1996","journal-title":"J. Biomech."},{"key":"B9","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1136\/jnnp.2009.177071","article-title":"Stop using the Ashworth Scale for the assessment of spasticity.","volume":"81","author":"Fleuren","year":"2010","journal-title":"J. Neurol."},{"key":"B10","doi-asserted-by":"publisher","first-page":"3132","DOI":"10.1161\/strokeaha.111.639831","article-title":"Poststroke spasticity management.","volume":"43","author":"Francisco","year":"2012","journal-title":"Stroke"},{"key":"B11","doi-asserted-by":"crossref","first-page":"13","DOI":"10.2340\/1650197771331","article-title":"The post-stroke hemiplegic patient. 1. a method for evaluation of physical performance.","volume":"7","author":"Fugl-Meyer","year":"1975","journal-title":"Scand. J. Rehabil. Med."},{"key":"B12","doi-asserted-by":"publisher","first-page":"1013","DOI":"10.1016\/s0003-9993(99)90053-9","article-title":"Reliability of the tone assessment scale and the modified Ashworth scale as clinical tools for assessing poststroke spasticity.","volume":"80","author":"Gregson","year":"1999","journal-title":"Arch. Phys. Med. Rehabil."},{"key":"B13","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2020.00111","article-title":"Soft rehabilitation actuator with integrated post-stroke finger spasticity evaluation.","volume":"8","author":"Heung","year":"2020","journal-title":"Front. Bioeng. Biotechnol."},{"key":"B14","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1089\/soro.2017.0125","article-title":"Robotic glove with soft-elastic composite actuators for assisting activities of daily living.","volume":"6","author":"Heung","year":"2019","journal-title":"Soft Robot."},{"key":"B15","doi-asserted-by":"crossref","DOI":"10.1186\/s12984-016-0132-y","article-title":"Movement distributions of stroke survivors exhibit distinct patterns that evolve with training.","volume":"13","author":"Huang","year":"2016","journal-title":"J. Neuroeng. Rehabil."},{"key":"B16","doi-asserted-by":"publisher","first-page":"483","DOI":"10.1038\/sj.sc.3101747","article-title":"The effect of passive cycling movements on spasticity after spinal cord injury: preliminary results.","volume":"43","author":"Kakebeeke","year":"2005","journal-title":"Spinal Cord"},{"key":"B17","doi-asserted-by":"publisher","first-page":"954","DOI":"10.1002\/(sici)1097-4598(200006)23:6<954::aid-mus17>3.0.co;2-0","article-title":"Quantitative features of the stretch response of extrinsic finger muscles in hemiparetic stroke.","volume":"23","author":"Kamper","year":"2000","journal-title":"Muscle Nerve"},{"key":"B18","doi-asserted-by":"publisher","first-page":"1262","DOI":"10.1016\/j.apmr.2006.05.013","article-title":"Weakness is the primary contributor to finger impairment in chronic stroke.","volume":"87","author":"Kamper","year":"2006","journal-title":"Arch. Phys. Med. Rehabil."},{"key":"B19","doi-asserted-by":"publisher","first-page":"1581","DOI":"10.1016\/s0021-9290(02)00229-4","article-title":"Extrinsic flexor muscles generate concurrent flexion of all three finger joints.","volume":"35","author":"Kamper","year":"2002","journal-title":"J. Biomech."},{"key":"B20","doi-asserted-by":"publisher","first-page":"309","DOI":"10.1002\/mus.10443","article-title":"Relative contributions of neural mechanisms versus muscle mechanics in promoting finger extension deficits following stroke.","volume":"28","author":"Kamper","year":"2003","journal-title":"Muscle Nerve"},{"key":"B21","doi-asserted-by":"publisher","first-page":"1675","DOI":"10.1016\/s0021-9290(00)00159-7","article-title":"Intrinsic and extrinsic contributions to the passive moment at the metacarpophalangeal joint.","volume":"33","author":"Knutson","year":"2000","journal-title":"J. Biomech."},{"key":"B22","doi-asserted-by":"publisher","first-page":"2531","DOI":"10.1016\/j.jbiomech.2012.07.034","article-title":"Muscle-tendon units provide limited contributions to the passive stiffness of the index finger metacarpophalangeal joint.","volume":"45","author":"Kuo","year":"2012","journal-title":"J. Biomech."},{"key":"B23","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1007\/978-1-4471-2277-7_24","article-title":"Robots for measurement\/clinical assessment","author":"Lambercy","year":"2012","journal-title":"Neurorehabilitation Technology"},{"key":"B24","author":"Levine","year":"2018","journal-title":"Stronger After Stroke: Your Roadmap to Recovery."},{"key":"B25","doi-asserted-by":"crossref","DOI":"10.1186\/s12984-016-0180-3","article-title":"Robot-aided assessment of lower extremity functions: a review.","volume":"13","author":"Maggioni","year":"2016","journal-title":"J. Neuroeng. Rehabil."},{"key":"B26","doi-asserted-by":"publisher","first-page":"751","DOI":"10.1191\/0269215505cr889oa","article-title":"Reliability of the modified Tardieu scale and the modified Ashworth scale in adult patients with severe brain injury: a comparison study.","volume":"19","author":"Mehrholz","year":"2005","journal-title":"Clin. Rehabil."},{"key":"B27","doi-asserted-by":"publisher","first-page":"1363","DOI":"10.1109\/10.725333","article-title":"Characterization of multijoint finger stiffness: dependence on finger posture and force direction.","volume":"45","author":"Milner","year":"1998","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"B28","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1002\/jor.1100010404","article-title":"Ligamentous structures of the metacarpophalangeal joint: a quantitative anatomic study.","volume":"1","author":"Minami","year":"1983","journal-title":"J. Orthop. Res."},{"key":"B29","doi-asserted-by":"publisher","first-page":"459","DOI":"10.1109\/tmech.2019.2892472","article-title":"Development of a two-axis robotic platform for the characterization of two-dimensional ankle mechanics.","volume":"24","author":"Nalam","year":"2019","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"B30","doi-asserted-by":"publisher","first-page":"373","DOI":"10.1191\/026921599677595404","article-title":"A review of the properties and limitations of the Ashworth and modified Ashworth scales as measures of spasticity.","volume":"13","author":"Pandyan","year":"1999","journal-title":"Clin. Rehabil."},{"key":"B31","doi-asserted-by":"crossref","DOI":"10.1109\/ICORR.2017.8009237","article-title":"Development of elbow spasticity model for objective training of spasticity assessment of patients post stroke","author":"Park","year":"2017","journal-title":"Proceedings of the 2017 International Conference on Rehabilitation Robotics (ICORR)"},{"key":"B32","doi-asserted-by":"publisher","first-page":"378","DOI":"10.1016\/s0894-1130(96)80045-7","article-title":"Splinting in the management of proximal interphalangeal joint flexion contracture.","volume":"9","author":"Prosser","year":"1996","journal-title":"J. Hand Ther."},{"key":"B33","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2017.00042","article-title":"Force myography for monitoring grasping in individuals with stroke with mild to moderate upper-extremity impairments: a preliminary investigation in a controlled environment.","volume":"5","author":"Sadarangani","year":"2017","journal-title":"Front. Bioeng. Biotechnol."},{"key":"B34","doi-asserted-by":"publisher","first-page":"2628","DOI":"10.1016\/j.jbiomech.2006.12.017","article-title":"Identification of passive elastic joint moment\u2013angle relationships in the lower extremity.","volume":"40","author":"Silder","year":"2007","journal-title":"J. Biomech."},{"key":"B35","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919873379","article-title":"Model-based online learning and adaptive control for a \u201chuman-wearable soft robot\u201d integrated system.","author":"Tang","year":"2019","journal-title":"Int. J. Robot. Res."},{"key":"B36","doi-asserted-by":"publisher","first-page":"2139","DOI":"10.1152\/jn.00423.2009","article-title":"Lack of hypertonia in thumb muscles after stroke.","volume":"104","author":"Towles","year":"2010","journal-title":"J. Neurophysiol."},{"key":"B37","doi-asserted-by":"crossref","DOI":"10.1115\/1.4033035","article-title":"Design of a soft robotic glove for hand rehabilitation of stroke patients with clenched fist deformity using inflatable plastic actuators.","volume":"10","author":"Yap","year":"2016","journal-title":"J. Med. Devices"},{"key":"B38","doi-asserted-by":"publisher","first-page":"535","DOI":"10.1111\/j.1747-4949.2012.00929.x","article-title":"Aspirin resistance in Chinese stroke patients increased the rate of recurrent stroke and other vascular events.","volume":"8","author":"Yi","year":"2013","journal-title":"Int. J. Stroke"},{"key":"B39","doi-asserted-by":"crossref","DOI":"10.1109\/ICCAS.2015.7364673","article-title":"Spasticity mathematical modelling in compliance with modified Ashworth scale and modified Tardieu scales","author":"Zakaria","year":"2015","journal-title":"Proceedings of the 2015 15th International Conference on Control, Automation and Systems (ICCAS)"}],"container-title":["Frontiers in Bioengineering and Biotechnology"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fbioe.2020.592637\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,15]],"date-time":"2023-10-15T15:31:25Z","timestamp":1697383885000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fbioe.2020.592637\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12,18]]},"references-count":39,"alternative-id":["10.3389\/fbioe.2020.592637"],"URL":"https:\/\/doi.org\/10.3389\/fbioe.2020.592637","relation":{},"ISSN":["2296-4185"],"issn-type":[{"value":"2296-4185","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,12,18]]},"article-number":"592637"}}