Biomechanical Analysis and Inertial Sensing of Ankle Joint While Stepping on an Unanticipated Bump

Author(s):Show less -

Miyatake, Taira ; Lee, Sangjun ; Galiana, Ignacio ; Rossi, Denise M. ; Siviy, Christopher ; Panizzolo, Fausto A. ; Walsh, Conor J. ; GonzalezVargas, J ; Ibanez, J ; ContrerasVidal, JL ; VanDerKooij, H ; Pons, JL

• Document type: Journal article
• Source: WEARABLE ROBOTICS: CHALLENGES AND TRENDS; v. 16, p. 5-pg., 2017-01-01.

Abstract

Walking on uneven terrain with a wearable assistive robot requires the controller to adapt to rapid changes in human's biomechanics. To do so, the changes due to terrain should be measured using wearable sensors. We investigated human ankle joint mechanics when stepping on different small, unanticipated bumps with either the forefoot or the rearfoot. It was shown that kinematics and kinetics change significantly depending on how humans step on a bump, and that changes in kinematics could be measured by IMUs. This result could be used to inform the design of adaptive controllers for wearable robots that provide optimal assistance to the ankle joint when walking on uneven terrain. (AU)

• FAPESP's process: 15/02116-1 - Investigating musculoskeletal implications of wearing a soft exosuit
• Grantee: Denise Martineli Rossi
• Support Opportunities: Scholarships abroad - Research Internship - Doctorate