Parameter Estimation of the Human Ankle in the Transverse Plane during Straight Walking 2007-01-2486
In order to reduce painful and injurious shear stresses for lower limb amputees, prosthetic ankle joints need to provide torsional control in the transverse plane. This paper attempts to characterize biological ankle function in the transverse plane with simple mechanical elements to assist in the design of a biomimetic prosthetic ankle joint. Motion capture data was collected from ten subjects walking in a straight trajectory to model four states of stance phase. Passive elements were chosen to model the ankle in each state. The ankle was observed to act as a quadratic torsional spring in State 1 and as linear torsional springs in States 2, 3 and 4. The results of this study should assist with the mechanical design and control of a biomimetic torsional prosthesis by suggesting a finite state control system and by providing the stiffness coefficients to be controlled for straight walking.
Citation: Glaister, B., Orendurff, M., Schoen, J., and Klute, G., "Parameter Estimation of the Human Ankle in the Transverse Plane during Straight Walking," SAE Technical Paper 2007-01-2486, 2007, https://doi.org/10.4271/2007-01-2486. Download Citation
Author(s):
Brian C. Glaister, Michael S. Orendurff, Jason A. Schoen, Glenn K. Klute
Affiliated:
University of Washington
Pages: 9
Event:
2007 Digital Human Modeling Conference
ISSN:
0148-7191
e-ISSN:
2688-3627
Related Topics:
Prostheses and implants
Control systems
Springs
Biological sciences
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