RESUMEN
We propose a remote joint impedance estimation system called Tele-snap for a rehabilitation diagnosis under the COVID-19 pandemic. Dynamic resistance of the human joint is essential physical information reflecting the motor function. The resistance is assessed based on the touching sensation of the doctor (physiotherapist), but the pandemic restricts such an in-person manner. Our proposing system aims to provide this physical information quantified by the joint impedance for a diagnosis in the telerehabilitation context. The proposed system employs a compact impulsive perturbation generator called the snap motor and a marker-less motion capture technology called the OpenPose. The subsystem installed in the patient's place is then simplified remarkably, which consists of the wearable snap motor and Raspberry Pi with a built-in camera module. The proposed system can collect the dataset for impedance estimation through the examiner's teleoperation of the snap motor and camera via a virtual private network, with no need for the operation by the patient. We verify the proposed system through an in-person experiment and then demonstrate the remote impedance estimation scheme. [ FROM AUTHOR] Copyright of Advanced Robotics is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full . (Copyright applies to all s.)