Computational modeling of the pendulum test to

simulate spasticity in the elbow joint

B.R. Pasqualin1, V.A. Silva2 , M. I. V. Orselli3, and E.F. Manffra2

1.Pontifícia Universidade Católica do Paraná/ Biomedical Engineering, Curitiba, Brazil

2.Pontifícia Universidade Católica do Paraná/ Postgraduate Program in Health Technology, Curitiba, Brazil
3.Instituto Vita, São Paulo, Brazil

Track: Biomechanics, Neural Engineereing and Rehabilitation

Introduction

• Spasticity: common condition in people with CNS injury

• multifactorial phenomenon that is not fully understood
• neural: hyperexcitability of tonic reflex
• non-neural: mechanical properties of fibers and tendons

• Modified Ashworth Scale (MAS): subjective clinical assessment

Introduction

• Computational Models: tools to obtain more detailed information

• Koo and Mak (2006)
• He et al. (1997)
• Feng and Mak (1998)

• OpenSim: Open source software that enables biomechanical

modeling
Introduction

• Pendulum Test (Wartenberg, 1950s)

• Objectives
Methods

• All programming interface was done in MATLAB®, 2022a using the OpenSim-Matlab

• Simplified elbow flexion-extension model

available on GitHub has been modified to
simulate the pendulum test
Methods
BIOMECHANICAL STRUCTURE

• Model: two rigid segments (humerus and

radius), connected by a pin-joint that allows a
1 DOF.
• Representation of the biceps brachii
and triceps brachii using Hill-type
muscles.
Methods
MUSCLE-TENDON MODELING

• For the implementation of the muscles, the 'Millard2012EquilibriumMuscle'

class was used.

• Elastic tendon
• Dynamic system activation
• Standard fiber damping
Methods
CONTROLLER

• The neural input was described by the PicewiseConstantFunction using the

'prescribedControlForActuator' class
• The excitation values were extracted from McGibbon et al. (2016), which were
obtained from EMG signals from asymptomatic patients and with mild spasticity

McGibbon et al. (2016)

Methods
SIMULATIONS

• Two simulations were performed, with

changes in the excitation value
RESULTS

• The results obtained were compared with those described in the literature (LIN,
JU, LIN, 2003)
• spasticity in stroke patients with varying degrees of spasticity described in the
MAS and elbow joint pendulum test.
RESULTS

• Shows oscillatory
characteristics visible in the
pendulum test;
• Range of motion greater
than physiologically
possible;
RESULTS

• Biceps: possible to perceive

an initial peak
• Triceps: Decreased length
and 'zero' speed
DISCUSSION

• It was assumed that excitation data obtained in a 'third party' way could simulate
kinematic activity in spasticity
• Partially true
• It has a reduced number of oscillations (MAS 1+)
• Range of motion greater than physiological
• Biceps: EMG signal used was satisfactory for the physiological representation of
the muscle
CONCLUSION

• Model is able to represent the pendulum test

• Needs adjustments
• Viscosity and damping coefficients
• Implementing a passive torque
• Representation of increased joint stiffness
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Any questions about this work?

Presenter’s Name: Beatriz Ribeiro Pasqualin

Affiliation: Pontifícia Universidade Católica do Paraná

E-mail: beatriz.pasqualin@pucpr.edu.br

Thank you!