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Erschienen in:
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2016 | OriginalPaper | Buchkapitel

7. Kinematic and Computational Model of Human Ankle

verfasst von : Shane (S.Q.) Xie

Erschienen in: Advanced Robotics for Medical Rehabilitation

Verlag: Springer International Publishing

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Abstract

Knowledge of ankle kinematics is a fundamental requirement when constructing a dynamic model of the human ankle since the kinematic constraints at the ankle–foot complex can be used to select suitable generalised coordinates to describe ankle–foot motion. A recursive algorithm was therefore developed in this research for the online identification of ankle kinematic parameters. This chapter presents a computational ankle model developed to facilitate controller development of the ankle rehabilitation robot and provides a description of the ankle mechanical characteristics through considerations of forces applied along anatomical elements around the ankle joint, which include ligaments and muscle–tendon units.

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Vorheriges Kapitel Motion and Interactive Control for Upper Limb Exoskeleton
Nächstes Kapitel Development of the Ankle Rehabilitation Robot
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Metadaten
Titel
Kinematic and Computational Model of Human Ankle
verfasst von
Shane (S.Q.) Xie
Copyright-Jahr
2016
Buch
Advanced Robotics for Medical Rehabilitation

Print ISBN: 978-3-319-19895-8

Electronic ISBN: 978-3-319-19896-5

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-19896-5_7

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