Lower limb response to modified ankle impedance in gait
Name
775673068-MIT.pdf
Description
Full printable version
Size
7.88 MB
Format
Adobe PDF
Checksum (MD5)
8e6409fa1a872f2234c3d88495eb7445
Author(s)
Blackburn, Bonnie Lucille
Advisor(s)
Neville Hogan.
Date Issued
2011
Publisher
Massachusetts Institute of Technology
Abstract
This project used an exoskeletal robot to increase and decrease the stiffness of the ankle joint during treadmill walking to measure the effect of ankle impedance on lower limb joint kinematics. By quantifying the effect of ankle impedance on the knee joint we sought to better understand coordination and control of the ankle and knee. Using linear regression to determine the relationship between the maximum knee flexion during stance and the imposed stiffness on the ankle, we found a measurable positive correlation in 4 out of 5 test subjects at a 95% confidence level. The knee responded to modifications in ankle stiffness as expected from a simple mechanical model. Remarkably, the response was small and variable enough to suggest the body compensates to preserve normal kinematic profiles.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 51).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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reproduction or distribution in any format is prohibited without written
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