Quantitative Characterization of Steady-State Ankle Impedance With Muscle Activation
Author(s)Lee, Hyunglae; Ho, Patrick; Rastgaar Aagaah, Mohammad; Krebs, Hermano I; Hogan, Neville
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Characterization of multi-variable ankle mechanical impedance is crucial to understanding how the ankle supports lower-extremity function during interaction with the environment. This paper reports quantification of steady-state ankle impedance when muscles were active. Vector field approximation of repetitive measurements of the torque-angle relation in two degrees of freedom (inversion/eversion and dorsiflexion/plantarflexion) enabled assessment of spring-like and non-spring-like components. Experimental results of eight human subjects showed direction-dependent ankle impedance with greater magnitude than when muscles were relaxed. In addition, vector field analysis demonstrated a non-spring-like behavior when muscles were active, although this phenomenon was subtle in the unimpaired young subjects we studied. Copyright © 2010 by ASME.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
ASME 2010 Dynamic Systems and Control Conference, Volume 1
Lee, Hyunglae, Patrick Ho, Mohammad A. Rastgaar, Hermano Igo Krebs, and Neville Hogan. “Quantitative Characterization of Steady-State Ankle Impedance With Muscle Activation.” Proceedings of the ASME 2010 Dynamic Systems and Control Conference, 12-15 September, Cambridge, Massachusetts, 2010, ASME, 2010. © 2010 by ASME
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