TY - GEN
T1 - Investigation of human ankle mechanical impedance during locomotion using a wearable ankle robot
AU - Lee, Hyunglae
AU - Hogan, Neville
PY - 2013/11/14
Y1 - 2013/11/14
N2 - This paper presents a new method to characterize human ankle mechanical impedance during treadmill locomotion with a wearable ankle robot, Anklebot. An ensemble-based system identification method was used to investigate the time-varying behavior of ankle mechanical impedance in two degrees of freedom, both in the sagittal and frontal planes. We also provide solutions to overcome the limitations of original ensemble-based methods in practical applications. A pilot study of three human subjects demonstrated the efficacy of our approach. Analysis results showed clear time-varying behaviors of ankle impedance across the gait cycle except in the mid- and terminal-stance phases, and these behaviors were accurately approximated as a second-order model with stiffness, damping, and inertia components. Interestingly, all three subjects showed similar time-varying behaviors in both degrees of freedom: impedance increased around heel-strike and decreased significantly at the end of the stance phase.
AB - This paper presents a new method to characterize human ankle mechanical impedance during treadmill locomotion with a wearable ankle robot, Anklebot. An ensemble-based system identification method was used to investigate the time-varying behavior of ankle mechanical impedance in two degrees of freedom, both in the sagittal and frontal planes. We also provide solutions to overcome the limitations of original ensemble-based methods in practical applications. A pilot study of three human subjects demonstrated the efficacy of our approach. Analysis results showed clear time-varying behaviors of ankle impedance across the gait cycle except in the mid- and terminal-stance phases, and these behaviors were accurately approximated as a second-order model with stiffness, damping, and inertia components. Interestingly, all three subjects showed similar time-varying behaviors in both degrees of freedom: impedance increased around heel-strike and decreased significantly at the end of the stance phase.
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U2 - 10.1109/ICRA.2013.6630941
DO - 10.1109/ICRA.2013.6630941
M3 - Conference contribution
AN - SCOPUS:84887281551
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2651
EP - 2656
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -