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. |