Quantifying Viscous Damping and Stiffness in Parkinsonism Using Data-Driven Model Estimation and Admittance Control.

Rigidity of upper and lower limbs in Parkinson's disease (PD) is typically assessed via a clinical rating scale that is subject to human perception biases. Methodologies to quantify changes in rigidity associated with the angular position (stiffness) or velocity (viscous damping) are needed to enhance our understanding of PD pathophysiology and objectively assess therapies. In this proof of concept study, we developed a robotic system and a model-based approach to estimate viscous damping and stiffness of the elbow.