The measurement and interpretation of actively modulated static ankle impedance using a therap[e]utic robot
Name
705940030-MIT.pdf
Description
Full printable version
Size
4.37 MB
Format
Adobe PDF
Checksum (MD5)
804d7cc2d3cb777ae979361e96c6bf8a
Author(s)
Ho, Patrick, S.M. Massachusetts Institute of Technology
Advisor(s)
Neville Hogan.
Date Issued
2010
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, I conducted an in-vivo study providing measurements of human static ankle mechanical impedance. Accurate measurements of ankle impedance when muscles were voluntarily activated were obtained using a therapeutic robot, Anklebot, and an electromyographic recording system. Important features of ankle impedance, and their variation with muscle activity, are discussed, including magnitude, symmetry and directions of minimum and maximum impedance. Voluntary muscle activation has a significant impact on ankle impedance, increasing it by up to a factor of three in our experiments. Furthermore, significant asymmetries and deviations from a linear two-spring model are present in many subjects, indicating that ankle impedance has a complex and individually idiosyncratic structure. I propose the use of Fourier series as a general representation, providing both insight and a precise quantitative characterization of human static ankle impedance.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 59).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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