Estimation of Ankle Torque in Passive Dorsiflexion and Plantar Flexion Using Time-Varying Elastic Coefficient

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  • Nagaoka Yuma
    Department of Electrical and Electronic Engineering, Mie University
  • Kitabata Kosuke
    Department of Electrical and Electronic Engineering, Mie University
  • Yashiro Daisuke
    Department of Electrical and Electronic Engineering, Mie University
  • Yubai Kazuhiro
    Department of Electrical and Electronic Engineering, Mie University
  • Komada Satoshi
    Department of Electrical and Electronic Engineering, Mie University
  • Takeda Kotaro
    Faculty of Rehabilitation, School of Healthcare, Fujita Health University

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Other Title
  • 時変弾性係数を用いた他動底背屈時の足関節トルクの推定
  • ジヘン ダンセイ ケイスウ オ モチイタ タドウテイ ハイクツジ ノ アシカンセツ トルク ノ スイテイ

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Abstract

<p>The resistance torques around the ankle joint differ between plantar flexion and dorsiflexion during passive movements at the same angle. Some conventional methods that have modeled the relationships between the joint angles and resistance torques using time-invariant elastic coefficients, which cannot account for the hysteresis property. Here, we propose a new modeling method using a time-varying elastic coefficient to represent the hysteresis of the ankle joint. In the present study, we used a custom-made motorized device to rotate the ankle joint passively and measured the joint angles and resistance torques from five healthy participants. By comparing the measured torques with the estimated values, we show that the proposed method can estimate the torque with less error than the conventional methods.</p>

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