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Table 2 Systems for measuring the different variables of interest for different types of tasks

From: On the analysis of movement smoothness

Task

Variables of interest

Measurement system

Movement task

Position

Robotic devices or camera-based motion capture system to measure position in either task space or joint space. Wearable potentiometers for measuring joint position.

 

Acceleration, angular rate

Inertial measurement units.

Isometric task

Force/Torque

Robotic devices for both task space and joint space measurements. Multi-axis load cells for measuring force and torque in different directions.

Movement or isometric task

Impedance

Robotic devices for measuring task or joint space impedance through appropriate perturbation methods. EMG recording of opposing muscle pairs to measure joint stiffness.