Estimation of human ankle impedance during walking using the perturberator robot

@article{Rouse2012EstimationOH,
  title={Estimation of human ankle impedance during walking using the perturberator robot},
  author={Elliott J. Rouse and Levi J. Hargrove and E. J. Perreault and Todd A. Kuiken},
  journal={2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
  year={2012},
  pages={373-378}
}
Motivated by the ability to provide biologically inspired control systems to recently developed powered ankle prostheses, the impedance parameters of the ankle were determined during the stance phase of walking. Five subjects walked across a walkway that included a robotic platform to perturb the ankle. A 0.035 radian perturbation was randomly applied at four perturbation timing points in stance phase: 100, 225, 350 and 475 ms following heel strike. A parametric model was used to represent the… CONTINUE READING