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Stochastic Estimation of Human Ankle Mechanical Impedance in Lateral/Medial Rotation

[+] Author Affiliations
Evandro M. Ficanha, Mohammad Rastgaar

Michigan Technological University, Houghton, MI

Paper No. DSCC2014-5857, pp. V002T16A002; 5 pages
doi:10.1115/DSCC2014-5857
From:
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4619-3
  • Copyright © 2014 by ASME

abstract

This article compares stochastic estimates of human ankle mechanical impedance when ankle muscles were fully relaxed and co-contracting antagonistically. We employed Anklebot, a rehabilitation robot for the ankle to provide torque perturbations. Surface electromyography (EMG) was used to monitor muscle activation levels and these EMG signals were displayed to subjects who attempted to maintain them constant. Time histories of ankle torques and angles in the lateral/medial (LM) directions were recorded. The results also compared with the ankle impedance in inversion-eversion (IE) and dorsiflexion-plantarflexion (DP). Linear time-invariant transfer functions between the measured torques and angles were estimated for the Anklebot alone and when a human subject wore it; the difference between these functions provided an estimate of ankle mechanical impedance. High coherence was observed over a frequency range up to 30 Hz. The main effect of muscle activation was to increase the magnitude of ankle mechanical impedance in all degrees of freedom of ankle.

Copyright © 2014 by ASME

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