Linear modeling of the ankle joint during walking as mechanical impedance for exoskeletons control and gait analysis

Gomez-Vargas, Daniel; Aguirre-Zapata, Estefania; Barria, Patricio; Munera, Marcela; Cifuentes, Carlos A; Roberti, Flavio; Carelli, Ricardo

Abstract

Ankle exoskeletons controllers use mathematical models and sensors to calculate the kinematics and kinetics of the ankle, to ensure safe transitions. This paper presents the parameterization and validation of a linear model of the ankle joint for a healthy subject. The experiment involved a healthy subject with weight and height of 84kg and 180cm, respectively. From the measurements it was possible to predict angle (from the torque) and torque (from the angle). The results show a fit of 93% and 88% at validation stage for torque and ankle angle, respectively. The model evidences a high predictive ability and its response is within a confidence interval of 95%. Future work aims at parameterizing the model for pathological patients and developing model-based controllers for robotic devices.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 6th International Conference on NeuroRehabilitation (ICNR2024)
• Start Date: Nov 5, 2024
• Acceptance Date: Aug 12, 2024
• Deposit Date: Oct 31, 2024
• Peer Reviewed: Peer Reviewed
• Public URL: https://uwe-repository.worktribe.com/output/13326527