A Robot-Driven Computational Model for Estimating Passive Ankle Torque With Subject-Specific Adaptation.
Journal:
IEEE transactions on bio-medical engineering
Published Date:
Aug 31, 2015
Abstract
BACKGROUND: 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.