A. Gmerek, N. Meskin, E. Sobhani-Tehrani, R. Kearney
{"title":"The characterization of the kinematic and dynamic properties of the ankle joint for an artificial ankle joint design","authors":"A. Gmerek, N. Meskin, E. Sobhani-Tehrani, R. Kearney","doi":"10.1109/BIOROB.2016.7523710","DOIUrl":null,"url":null,"abstract":"The kinematic and dynamic properties of the ankle joint (talocrural region) in normal subjects provide important information for the design of rehabilitation robots, below-knee prostheses, ankle-foot orthoses, and exoskeletons. This paper presents a quantitative analysis of published experimental data, simulation studies of human gait, and a dynamic model of ankle joint intrinsic and reflex stiffness to determine design requirements for such ankle devices to operate in the sagittal plane (i.e. ankle plantarflexion/dorsiflexion). The design requirements are derived in terms of average torque, rotatum, range of motion, velocity, acceleration, system bandwidth, torque-velocity curve, and the torque probability density function.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/BIOROB.2016.7523710","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
The kinematic and dynamic properties of the ankle joint (talocrural region) in normal subjects provide important information for the design of rehabilitation robots, below-knee prostheses, ankle-foot orthoses, and exoskeletons. This paper presents a quantitative analysis of published experimental data, simulation studies of human gait, and a dynamic model of ankle joint intrinsic and reflex stiffness to determine design requirements for such ankle devices to operate in the sagittal plane (i.e. ankle plantarflexion/dorsiflexion). The design requirements are derived in terms of average torque, rotatum, range of motion, velocity, acceleration, system bandwidth, torque-velocity curve, and the torque probability density function.