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.
- Dynamic Systems and Control Division
The Multi-Variable Torque-Displacement Relation at the Ankle
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Lee, H, Ho, P, Krebs, HI, & Hogan, N. "The Multi-Variable Torque-Displacement Relation at the Ankle." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 1. Hollywood, California, USA. October 12–14, 2009. pp. 49-51. ASME. https://doi.org/10.1115/DSCC2009-2571
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