2026-09-20T21:40:19Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/695012022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Neville Hogan.
Blackburn, Bonnie Lucille
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2012-02-29T18:21:58Z
2012-02-29T18:21:58Z
2011
2011
http://hdl.handle.net/1721.1/69501
775673068
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 51).
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.
by Bonnie Lucille Blackburn.
S.B.
52 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Lower limb response to modified ankle impedance in gait
Thesis
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<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.</Abstract>
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