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 proceedingConference contribution

12 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 languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages957-959
Number of pages3
EditionPART B
ISBN (Print)9780791848920
DOIs
StatePublished - Jan 1 2010
Externally publishedYes
Event2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States
Duration: Oct 12 2009Oct 14 2009

Publication series

NameProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
NumberPART B

Other

Other2009 ASME Dynamic Systems and Control Conference, DSCC2009
CountryUnited States
CityHollywood, CA
Period10/12/0910/14/09

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ASJC Scopus subject areas

  • Control and Systems Engineering

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