FURI | Spring 2025

Characterization of Shoulder Joint Stiffness Across 3D Arm Postures Using an Exoskeleton Robot

Stroke survivors often suffer from impaired motor control due to damaged intrinsic shoulder mechanisms. Shoulder joint impedance in 3D arm postures has not been extensively studied, and few use methods safe for stroke patients. This study will use a shoulder exoskeleton robot to characterize shoulder joint stiffness across different 3D arm postures with methods safe for use in stroke patients. By quantifying how shoulder joint stiffness varies with posture, a critical gap in the understanding of musculoskeletal impairment can be filled. Accurate characterization of shoulder mechanics can improve shoulder joint modeling, which can enhance rehabilitation protocols and therapeutic practices.