Design and Evaluation of a 2-DOF Instrumented Platform for Estimation of the Ankle Mechanical Impedance in the Sagittal and Frontal Planes
Document Type
Article
Publication Date
10-1-2016
Abstract
© 2016 IEEE. This paper describes the fabrication and initial evaluation of a vibrating platform with two degrees of freedom (DOF) to estimate the human ankle's mechanical impedance in two DOFs; namely dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The device consists of an actuation and a force plate module. The actuation module generates torque perturbations up to 168 N·m in DP and 26 N·m in IE in the force plate module using Bowden cables. This provides a low-profile system that can be installed in a walkway. The frame of the force plate module rotates in two DOFs, applying torque perturbations to the human ankle in DP and IE. The ankle's rotations are measured using a motion capture camera system. The analytical and numerical approaches for estimation of the ankle's torques, rotations, and impedances are presented. A system validation using a mockup was conducted to verify the system's ability to estimate the impedance of a physical system in two DOFs. The developed system was capable of identifying the mockup's physical properties up to 15 Hz. The mockup's impedance magnitude at 0.9 Hz using a stochastic identification method was shown to be within 1.68% and 0.54% of the mockup's stiffness in DP and IE, respectively.
Publication Title
IEEE/ASME Transactions on Mechatronics
Recommended Citation
Ficanha, E.,
Ribeiro, G.,
&
Rastgaar, M.
(2016).
Design and Evaluation of a 2-DOF Instrumented Platform for Estimation of the Ankle Mechanical Impedance in the Sagittal and Frontal Planes.
IEEE/ASME Transactions on Mechatronics,
21(5), 2531-2542.
http://doi.org/10.1109/TMECH.2016.2552406
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/11068
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