Investigation of human ankle mechanical impedance during locomotion using a wearable ankle robot

Hyunglae Lee, Neville Hogan

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

16 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages2651-2656
Number of pages6
DOIs
StatePublished - Nov 14 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Lee, H., & Hogan, N. (2013). Investigation of human ankle mechanical impedance during locomotion using a wearable ankle robot. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 2651-2656). [6630941] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6630941