2026-09-19T15:58:08Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/618692022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Neville Hogan.
Ho, Patrick, S.M. Massachusetts Institute of Technology
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2011-03-24T20:19:09Z
2011-03-24T20:19:09Z
2010
2010
http://hdl.handle.net/1721.1/61869
705940030
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 59).
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.
by Patrick Ho.
S.M.
59 p.
eng
Massachusetts Institute of Technology
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
The measurement and interpretation of actively modulated static ankle impedance using a therap[e]utic robot
Thesis
application/pdf
Publication
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<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.</Abstract>
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