TY - GEN
T1 - Stochastic estimation of multi-variable human ankle mechanical impedance
AU - Rastgaar, Mohammad A.
AU - Ho, Patrick
AU - Lee, Hyunglae
AU - Krebs, Hermano Igo
AU - Hogan, Neville
PY - 2010
Y1 - 2010
N2 - This article presents preliminary stochastic estimates of the multi-variable human ankle mechanical impedance. We employed Anklebot, a rehabilitation robot for the ankle, to provide torque perturbations. Time histories of the torques in Dorsi-Plantar flexion (DP) and Inversion-Eversion (IE) directions and the associated angles of the ankle were recorded. Linear time-invariant transfer functions between the measured torques and angles were estimated for the Anklebot and when the Anklebot was worn by a human subject. The difference between these impedance functions provided an estimate of the mechanical impedance of the ankle. High coherence was observed over a frequency range up to 30 Hz, indicating that this procedure yielded an accurate measure of ankle mechanical impedance in DP and IE directions.
AB - This article presents preliminary stochastic estimates of the multi-variable human ankle mechanical impedance. We employed Anklebot, a rehabilitation robot for the ankle, to provide torque perturbations. Time histories of the torques in Dorsi-Plantar flexion (DP) and Inversion-Eversion (IE) directions and the associated angles of the ankle were recorded. Linear time-invariant transfer functions between the measured torques and angles were estimated for the Anklebot and when the Anklebot was worn by a human subject. The difference between these impedance functions provided an estimate of the mechanical impedance of the ankle. High coherence was observed over a frequency range up to 30 Hz, indicating that this procedure yielded an accurate measure of ankle mechanical impedance in DP and IE directions.
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U2 - 10.1115/DSCC2009-2643
DO - 10.1115/DSCC2009-2643
M3 - Conference contribution
AN - SCOPUS:77953772757
SN - 9780791848920
T3 - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
SP - 957
EP - 959
BT - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
PB - American Society of Mechanical Engineers (ASME)
T2 - 2009 ASME Dynamic Systems and Control Conference, DSCC2009
Y2 - 12 October 2009 through 14 October 2009
ER -