This article presents the results of two in-vivo studies providing measurements of human static ankle mechanical impedance. Accurate measurements of ankle impedance when muscles were voluntarily activated were obtained using a therapeutic robot, Anklebot, and an electromyographic recording system. Important features of ankle impedance, and their variation with muscle activity, are discussed, including magnitude, symmetry and directions of minimum and maximum impedance. Voluntary muscle activation has a significant impact on ankle impedance, increasing it by up to a factor of three in our experiments. Furthermore, significant asymmetries and deviations from a linear two-spring model are present in many subjects, indicating that ankle impedance has a complex and individually idiosyncratic structure. We propose the use of Fourier series as a general representation, providing both insight and a precise quantitative characterization of human static ankle impedance.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4417-5
PROCEEDINGS PAPER
Interpretation of the Directional Properties of Voluntarily Modulated Human Ankle Mechanical Impedance
Patrick Ho,
Patrick Ho
Massachusetts Institute of Technology, Cambridge, MA
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Hyunglae Lee,
Hyunglae Lee
Massachusetts Institute of Technology, Cambridge, MA
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Mohammad A. Rastgaar,
Mohammad A. Rastgaar
Massachusetts Institute of Technology, Cambridge, MA
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Hermano Igo Krebs,
Hermano Igo Krebs
Massachusetts Institute of Technology, Cambridge, MA
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Neville Hogan
Neville Hogan
Massachusetts Institute of Technology, Cambridge, MA
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Patrick Ho
Massachusetts Institute of Technology, Cambridge, MA
Hyunglae Lee
Massachusetts Institute of Technology, Cambridge, MA
Mohammad A. Rastgaar
Massachusetts Institute of Technology, Cambridge, MA
Hermano Igo Krebs
Massachusetts Institute of Technology, Cambridge, MA
Neville Hogan
Massachusetts Institute of Technology, Cambridge, MA
Paper No:
DSCC2010-4274, pp. 467-472; 6 pages
Published Online:
January 25, 2011
Citation
Ho, P, Lee, H, Rastgaar, MA, Krebs, HI, & Hogan, N. "Interpretation of the Directional Properties of Voluntarily Modulated Human Ankle Mechanical Impedance." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 1. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 467-472. ASME. https://doi.org/10.1115/DSCC2010-4274
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