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

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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

• Tipo de documento: Artigo Científico
• Fonte: WEARABLE ROBOTICS: CHALLENGES AND TRENDS; v. 16, p. 5-pg., 2017-01-01.

Resumo

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)

• Processo FAPESP: 15/02116-1 - Investigação das implicações musculoesqueléticas no uso de um exoesqueleto flexível
• Beneficiário: Denise Martineli Rossi
• Modalidade de apoio: Bolsas no Exterior - Estágio de Pesquisa - Doutorado