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 Scopus citations

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
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages49-51
Number of pages3
EditionPART A
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 A

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • 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). (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART A). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2009-2571