The multi-variable torque-displacement relation at the ankle

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

doi:10.1115/DSCC2009-2571

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 proceeding › Conference contribution

5 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 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	49-51
Number of pages	3
Edition	PART A
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2571
State	Published - Jan 1 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 A

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

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10.1115/DSCC2009-2571

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

The multi-variable torque-displacement relation at the ankle. / Lee, Hyunglae; Ho, Patrick; Krebs, Hermano Igo et al.
Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART A. ed. American Society of Mechanical Engineers (ASME), 2010. p. 49-51 (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART A).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, no. PART A, American Society of Mechanical Engineers (ASME), 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

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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.

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The multi-variable torque-displacement relation at the ankle

Abstract

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