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 Citations (Scopus)

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 publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Pages1524-1529
Number of pages6
DOIs
StatePublished - 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

Other

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

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Cite this

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

A novel characterization method to study multivariable joint mechanical impedance. / Lee, Hyunglae; Krebs, Hermano Igo; Hogan, Neville.

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 1524-1529 6290301.

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

Lee, H, Krebs, HI & Hogan, N 2012, A novel characterization method to study multivariable joint mechanical impedance. in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics., 6290301, pp. 1524-1529, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 6/24/12. https://doi.org/10.1109/BioRob.2012.6290301
Lee H, Krebs HI, Hogan N. A novel characterization method to study multivariable joint mechanical impedance. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 1524-1529. 6290301 https://doi.org/10.1109/BioRob.2012.6290301
Lee, Hyunglae ; Krebs, Hermano Igo ; Hogan, Neville. / A novel characterization method to study multivariable joint mechanical impedance. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. pp. 1524-1529
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