The characterization of the kinematic and dynamic properties of the ankle joint for an artificial ankle joint design
| Author | Gmerek, Artur |
| Author | Meskin, Nader |
| Author | Tehrani, Ehsan Sobhani |
| Author | Kearney, Robert E. |
| Available date | 2021-09-01T10:02:42Z |
| Publication Date | 2016 |
| Publication Name | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics |
| Resource | Scopus |
| 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. 2016 IEEE. |
| Language | en |
| Publisher | IEEE Computer Society |
| Subject | Bandwidth Design Joint prostheses Joints (anatomy) Kinematics Knee prostheses Machine design Orthotics Physiological models Probability density function Robotics Ankle foot orthose Below-knee prosthesis Dynamic property Range of motions Reflex stiffness Rehabilitation robot Simulation studies System bandwidth Exoskeleton (Robotics) |
| Type | Conference Paper |
| Pagination | 710-716 |
| Volume Number | 2016-July |
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Electrical Engineering [2550 items ]