A novel characterization method to study multivariable joint mechanical impedance

Hyunglae Lee, Hermano Igo Krebs, Neville Hogan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

This paper presents a novel method to characterize mechanical impedance of a human joint. We employed a non-parametric stochastic identification method and an interactive robot. This method allows us to determine several important properties including a) joint impedance in the direction of the joint principal axes, b) the spatial joint impedance structure, and c) the passivity properties of the joint. The method is applicable to studies of multivariable mechanical joint impedance, both for multi-joint impedance and single joint multi-DOF impedance. The method was successfully applied to the human ankle, and we showed that the determined ankle impedance precludes the utilization of a 2 nd order model. In addition, the impedance structure exhibited a characteristic peanut shape, being weak in inversion-eversion, and the ankle has passive and dissipative behavior over wide range of frequency.

Original languageEnglish (US)
Title of host publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages1524-1529
Number of pages6
DOIs
StatePublished - Oct 18 2012
Externally publishedYes
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: Jun 24 2012Jun 27 2012

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Other

Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CountryItaly
CityRome
Period6/24/126/27/12

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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  • Cite this

    Lee, H., Krebs, H. I., & Hogan, N. (2012). A novel characterization method to study multivariable joint mechanical impedance. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 1524-1529). [6290301] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290301