A Robot-Driven Computational Model for Estimating Passive Ankle Torque With Subject-Specific Adaptation

IEEE Transactions on Bio-medical Engineering
Mingming ZhangShane Xie

Abstract

Robot-assisted ankle assessment could potentially be conducted using sensor-based and model-based methods. Existing ankle rehabilitation robots usually use torquemeters and multiaxis load cells for measuring joint dynamics. These measurements are accurate, but the contribution as a result of muscles and ligaments is not taken into account. Some computational ankle models have been developed to evaluate ligament strain and joint torque. These models do not include muscles and, thus, are not suitable for an overall ankle assessment in robot-assisted therapy. This study proposed a computational ankle model for use in robot-assisted therapy with three rotational degrees of freedom, 12 muscles, and seven ligaments. This model is driven by robotics, uses three independent position variables as inputs, and outputs an overall ankle assessment. Subject-specific adaptations by geometric and strength scaling were also made to allow for a universal model. This model was evaluated using published results and experimental data from 11 participants. Results show a high accuracy in the evaluation of ligament neutral length and passive joint torque. The subject-specific adaptation performance is high, with each normalized root-mean-square devia...Continue Reading

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