TY - GEN
T1 - A novel characterization method to study multivariable joint mechanical impedance
AU - Lee, Hyunglae
AU - Krebs, Hermano Igo
AU - Hogan, Neville
PY - 2012
Y1 - 2012
N2 - This paper presents a novel method to characterize mechanical impedance of a human joint. We employed a non-parametric stochastic identification method and an interactive robot. This method allows us to determine several important properties including a) joint impedance in the direction of the joint principal axes, b) the spatial joint impedance structure, and c) the passivity properties of the joint. The method is applicable to studies of multivariable mechanical joint impedance, both for multi-joint impedance and single joint multi-DOF impedance. The method was successfully applied to the human ankle, and we showed that the determined ankle impedance precludes the utilization of a 2 nd order model. In addition, the impedance structure exhibited a characteristic peanut shape, being weak in inversion-eversion, and the ankle has passive and dissipative behavior over wide range of frequency.
AB - This paper presents a novel method to characterize mechanical impedance of a human joint. We employed a non-parametric stochastic identification method and an interactive robot. This method allows us to determine several important properties including a) joint impedance in the direction of the joint principal axes, b) the spatial joint impedance structure, and c) the passivity properties of the joint. The method is applicable to studies of multivariable mechanical joint impedance, both for multi-joint impedance and single joint multi-DOF impedance. The method was successfully applied to the human ankle, and we showed that the determined ankle impedance precludes the utilization of a 2 nd order model. In addition, the impedance structure exhibited a characteristic peanut shape, being weak in inversion-eversion, and the ankle has passive and dissipative behavior over wide range of frequency.
UR - http://www.scopus.com/inward/record.url?scp=84867407070&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867407070&partnerID=8YFLogxK
U2 - 10.1109/BioRob.2012.6290301
DO - 10.1109/BioRob.2012.6290301
M3 - Conference contribution
SN - 9781457711992
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1524
EP - 1529
BT - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
T2 - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Y2 - 24 June 2012 through 27 June 2012
ER -