The multi-variable torque-displacement relation at the ankle

Hyunglae Lee, Patrick Ho, Hermano Igo Krebs, Neville Hogan

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

4 Citations (Scopus)

Abstract

In this paper, we report measurements of the multi-variable torque-displacement relation at the ankle. The passive behavior of the ankle in two degrees of freedom (inversion-eversion and dorsiflexion-plantarflexion) was quantified using the Anklebot. The measured torque-displacement relationship was represented as a vector field using thin-plate spline smoothing with generalized cross validation. Analysis of the experimental results showed that, when maximally relaxed, the ankle behaved like a mechanical spring. However, if muscles were active, the torque-displacement relation was not spring-like. Implications for the contribution of neural feedback to ankle impedance are discussed.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Pages49-51
Number of pages3
EditionPART A
DOIs
StatePublished - 2010
Externally publishedYes
Event2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States
Duration: Oct 12 2009Oct 14 2009

Other

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

Fingerprint

Torque
Splines
Muscle
Feedback

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Lee, H., Ho, P., Krebs, H. I., & Hogan, N. (2010). The multi-variable torque-displacement relation at the ankle. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009 (PART A ed., pp. 49-51) https://doi.org/10.1115/DSCC2009-2571

The multi-variable torque-displacement relation at the ankle. / Lee, Hyunglae; Ho, Patrick; Krebs, Hermano Igo; Hogan, Neville.

Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A. ed. 2010. p. 49-51.

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

Lee, H, Ho, P, Krebs, HI & Hogan, N 2010, The multi-variable torque-displacement relation at the ankle. in Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A edn, pp. 49-51, 2009 ASME Dynamic Systems and Control Conference, DSCC2009, Hollywood, CA, United States, 10/12/09. https://doi.org/10.1115/DSCC2009-2571
Lee H, Ho P, Krebs HI, Hogan N. The multi-variable torque-displacement relation at the ankle. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A ed. 2010. p. 49-51 https://doi.org/10.1115/DSCC2009-2571
Lee, Hyunglae ; Ho, Patrick ; Krebs, Hermano Igo ; Hogan, Neville. / The multi-variable torque-displacement relation at the ankle. Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A. ed. 2010. pp. 49-51
@inproceedings{06fb73208a3d43e69b76e8e7462ae1fb,
title = "The multi-variable torque-displacement relation at the ankle",
abstract = "In this paper, we report measurements of the multi-variable torque-displacement relation at the ankle. The passive behavior of the ankle in two degrees of freedom (inversion-eversion and dorsiflexion-plantarflexion) was quantified using the Anklebot. The measured torque-displacement relationship was represented as a vector field using thin-plate spline smoothing with generalized cross validation. Analysis of the experimental results showed that, when maximally relaxed, the ankle behaved like a mechanical spring. However, if muscles were active, the torque-displacement relation was not spring-like. Implications for the contribution of neural feedback to ankle impedance are discussed.",
author = "Hyunglae Lee and Patrick Ho and Krebs, {Hermano Igo} and Neville Hogan",
year = "2010",
doi = "10.1115/DSCC2009-2571",
language = "English (US)",
isbn = "9780791848920",
pages = "49--51",
booktitle = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",
edition = "PART A",

}

TY - GEN

T1 - The multi-variable torque-displacement relation at the ankle

AU - Lee, Hyunglae

AU - Ho, Patrick

AU - Krebs, Hermano Igo

AU - Hogan, Neville

PY - 2010

Y1 - 2010

N2 - In this paper, we report measurements of the multi-variable torque-displacement relation at the ankle. The passive behavior of the ankle in two degrees of freedom (inversion-eversion and dorsiflexion-plantarflexion) was quantified using the Anklebot. The measured torque-displacement relationship was represented as a vector field using thin-plate spline smoothing with generalized cross validation. Analysis of the experimental results showed that, when maximally relaxed, the ankle behaved like a mechanical spring. However, if muscles were active, the torque-displacement relation was not spring-like. Implications for the contribution of neural feedback to ankle impedance are discussed.

AB - In this paper, we report measurements of the multi-variable torque-displacement relation at the ankle. The passive behavior of the ankle in two degrees of freedom (inversion-eversion and dorsiflexion-plantarflexion) was quantified using the Anklebot. The measured torque-displacement relationship was represented as a vector field using thin-plate spline smoothing with generalized cross validation. Analysis of the experimental results showed that, when maximally relaxed, the ankle behaved like a mechanical spring. However, if muscles were active, the torque-displacement relation was not spring-like. Implications for the contribution of neural feedback to ankle impedance are discussed.

UR - http://www.scopus.com/inward/record.url?scp=77953800535&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77953800535&partnerID=8YFLogxK

U2 - 10.1115/DSCC2009-2571

DO - 10.1115/DSCC2009-2571

M3 - Conference contribution

AN - SCOPUS:77953800535

SN - 9780791848920

SP - 49

EP - 51

BT - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

ER -