Stochastic estimation of multi-variable human ankle mechanical impedance

Mohammad A. Rastgaar; Patrick Ho; Hyunglae Lee; Hermano Igo Krebs; Neville Hogan

doi:10.1115/DSCC2009-2643

Stochastic estimation of multi-variable human ankle mechanical impedance

Mohammad A. Rastgaar, Patrick Ho, Hyunglae Lee, Hermano Igo Krebs, Neville Hogan

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Publisher	American Society of Mechanical Engineers (ASME)
Pages	957-959
Number of pages	3
Edition	PART B
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2643
State	Published - 2010
Externally published	Yes
Event	2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States Duration: Oct 12 2009 → Oct 14 2009

Publication series

Name	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Number	PART B

Other

Other	2009 ASME Dynamic Systems and Control Conference, DSCC2009
Country/Territory	United States
City	Hollywood, CA
Period	10/12/09 → 10/14/09

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1115/DSCC2009-2643

Cite this

Rastgaar, M. A., Ho, P., Lee, H., Krebs, H. I., & Hogan, N. (2010). Stochastic estimation of multi-variable human ankle mechanical impedance. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009 (PART B ed., pp. 957-959). (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2009-2643

Stochastic estimation of multi-variable human ankle mechanical impedance. / Rastgaar, Mohammad A.; Ho, Patrick; Lee, Hyunglae et al.
Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B. ed. American Society of Mechanical Engineers (ASME), 2010. p. 957-959 (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rastgaar, MA, Ho, P, Lee, H, Krebs, HI & Hogan, N 2010, Stochastic estimation of multi-variable human ankle mechanical impedance. in Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B edn, Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, no. PART B, American Society of Mechanical Engineers (ASME), pp. 957-959, 2009 ASME Dynamic Systems and Control Conference, DSCC2009, Hollywood, CA, United States, 10/12/09. https://doi.org/10.1115/DSCC2009-2643

Rastgaar MA, Ho P, Lee H, Krebs HI, Hogan N. Stochastic estimation of multi-variable human ankle mechanical impedance. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B ed. American Society of Mechanical Engineers (ASME). 2010. p. 957-959. (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; PART B). doi: 10.1115/DSCC2009-2643

Rastgaar, Mohammad A. ; Ho, Patrick ; Lee, Hyunglae et al. / Stochastic estimation of multi-variable human ankle mechanical impedance. Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B. ed. American Society of Mechanical Engineers (ASME), 2010. pp. 957-959 (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; PART B).

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abstract = "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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Stochastic estimation of multi-variable human ankle mechanical impedance

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