Mohammad Rastgaar

Learn More
This article presents preliminary stochastic estimates of the multi-variable human ankle mechanical impedance. We employed Anklebot, a rehabilitation robot for the ankle, to provide torque perturbations. Time histories of the torques in Dorsi-Plantar flexion (DP) and Inversion-Eversion (IE) directions and the associated angles of the ankle were recorded.(More)
This paper reports quantification of multivariable static ankle mechanical impedance when muscles were active. Repetitive measurements using a highly backdrivable therapeutic robot combined with robust function approximation methods enabled reliable characterization of the nonlinear torque-angle relation at the ankle in two coupled degrees of freedom(More)
This article compares stochastic estimates of multi-variable human ankle mechanical impedance when ankle muscles were fully relaxed, actively generating ankle torque or co-contracting antagonistically. We employed Anklebot, a rehabilitation robot for the ankle, to provide torque perturbations. Muscle activation levels were monitored electromyographically(More)
An orthogonal eigenstructure control method with collocated actuators and sensors was recently developed by the authors. In this paper the application of the method is extended beyond the collocation of the actuators and sensors, including the cases that different numbers of actuators and sensors are used. Orthogonal eigenstructure control is an output(More)
The ankle joint of currently available powered prostheses is capable of controlling one degree of freedom (DOF), focusing on improved mobility in the sagittal plane. To increase agility, the requirements of turning in prosthesis design need to be considered. Ankle kinematics and kinetics were studied during sidestep cutting and straight walking. There were(More)
This paper describes the design of an ankle-foot robotic prosthesis controllable in the sagittal and frontal planes. The prosthesis was designed to meet the mechanical characteristics of the human ankle including power, range of motion, and weight. To transfer the power from the motors and gearboxes to the ankle-foot mechanism, a Bowden cable system was(More)
This paper describes the protocols and results of the experiments for the estimation of the mechanical impedance of the humans' lower leg in the External-Internal direction in the transverse plane under non-load bearing condition and with relaxed muscles. The objectives of the estimation of the lower leg's mechanical impedance are to facilitate the design(More)
Orthogonal eigenstructure control is a novel control method that can be used for vibration suppression in flexible structures. The method described in this study does not need defining the desired locations of the closed-loop poles or predetermining the closed-loop eigenvectors. The method, which is applicable to linear multi-input multi-output systems,(More)
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(More)