Summary of Human Ankle Mechanical Impedance During Walking
TLDR
The purpose of this short communication is to unify the results of the first two studies measuring ankle mechanical impedance in the sagittal plane during walking, where each study investigated differing regions of the gait cycle.Abstract:
The human ankle joint plays a critical role during walking and understanding the biomechanical factors that govern ankle behavior and provides fundamental insight into normal and pathologically altered gait. Previous researchers have comprehensively studied ankle joint kinetics and kinematics during many biomechanical tasks, including locomotion; however, only recently have researchers been able to quantify how the mechanical impedance of the ankle varies during walking. The mechanical impedance describes the dynamic relationship between the joint position and the joint torque during perturbation, and is often represented in terms of stiffness, damping, and inertia. The purpose of this short communication is to unify the results of the first two studies measuring ankle mechanical impedance in the sagittal plane during walking, where each study investigated differing regions of the gait cycle. Rouse et al. measured ankle impedance from late loading response to terminal stance, where Lee et al. quantified ankle impedance from pre-swing to early loading response. While stiffness component of impedance increases significantly as the stance phase of walking progressed, the change in damping during the gait cycle is much less than the changes observed in stiffness. In addition, both stiffness and damping remained low during the swing phase of walking. Future work will focus on quantifying impedance during the “push off” region of stance phase, as well as measurement of these properties in the coronal plane.read more
Citations
More filters
Journal ArticleDOI
Estimation of Human Ankle Impedance During the Stance Phase of Walking
TL;DR: The specifications for a biomimetic powered ankle prosthesis were introduced that would accurately emulate human ankle impedance during locomotion using a model consisting of stiffness, damping and inertia.
Journal ArticleDOI
Admittance Control Based on EMG-Driven Musculoskeletal Model Improves the Human–Robot Synchronization
TL;DR: The EAC has an advantage in improving human–robot cooperation movement because the EAC can reduce the delay between the human's voluntary torque and the exoskeleton robot's assistive torque.
Journal ArticleDOI
Robust and Adaptive Lower Limb Prosthesis Stance Control via Extended Kalman Filter-Based Gait Phase Estimation
TL;DR: The ability of the proposed control to track the gait phase across both slowly and rapidly varying treadmill speeds is evaluated and it is found that the EKF's phase estimate tracked these gait changes significantly better than a time-based phase estimate.
Journal ArticleDOI
Mechanical Impedance of the Ankle During the Terminal Stance Phase of Walking.
TL;DR: Estimating ankle impedance during terminal stance phase of walking using a parametric model consisting of stiffness, damping, and inertia provides new insight into how ankle impedance is regulated during regions when substantial mechanical energy is added.
References
More filters
Book
Gait Analysis: Normal and Pathological Function
TL;DR: This text encompasses the work of Dr Jacquelin Perry in her years as a therapist and surgeon focusing on the human gait, suitable for incorporating into many athletic training programmes, university physical therapy programmes and gait workshops.
Journal ArticleDOI
Gait Analysis, Normal and Pathological Function.
TL;DR: Gait Analysis in the Science of RehabilitationBiomechanics in Orthopedics
Journal ArticleDOI
The central nervous system stabilizes unstable dynamics by learning optimal impedance.
TL;DR: The results show that humans learn to stabilize unstable dynamics using the skilful and energy-efficient strategy of selective control of impedance geometry.
Related Papers (5)
Intrinsic and reflex contributions to human ankle stiffness: variation with activation level and position.
Dynamics of human ankle stiffness: Variation with mean ankle torque
Ian W. Hunter,Robert E. Kearney +1 more