Characterization of multi-variable ankle mechanical impedance is crucial to understanding how the ankle supports lower-extremity function during interaction with the environment. This paper reports quantification of steady-state ankle impedance when muscles were active. Vector field approximation of repetitive measurements of the torque-angle relation in two degrees of freedom (inversion/eversion and dorsiflexion/plantarflexion) enabled assessment of spring-like and non-spring-like components. Experimental results of eight human subjects showed direction-dependent ankle impedance with greater magnitude than when muscles were relaxed. In addition, vector field analysis demonstrated a non-spring-like behavior when muscles were active, although this phenomenon was subtle in the unimpaired young subjects we studied.
- Dynamic Systems and Control Division
Quantitative Characterization of Steady-State Ankle Impedance With Muscle Activation
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Lee, H, Ho, P, Rastgaar, MA, Krebs, HI, & Hogan, N. "Quantitative Characterization of Steady-State Ankle Impedance With Muscle Activation." 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. 321-323. ASME. https://doi.org/10.1115/DSCC2010-4062
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