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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Evaluation of a 2-DOF Instrumented Platform for Estimation of the Ankle Mechanical Impedance in the Sagittal and Frontal Planes
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Design and Evaluation of a 2-DOF Instrumented Platform for Estimation of the Ankle Mechanical Impedance in the Sagittal and Frontal Planes

机译：用于估计矢状和额面踝机械阻抗的2自由度仪器平台的设计和评估

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摘要

This paper describes the fabrication and initial evaluation of a vibrating platform with two degrees of freedom (DOF) to estimate the human ankle's mechanical impedance in two DOFs; namely dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The device consists of an actuation and a force plate module. The actuation module generates torque perturbations up to 168 N·m in DP and 26 N·m in IE in the force plate module using Bowden cables. This provides a low-profile system that can be installed in a walkway. The frame of the force plate module rotates in two DOFs, applying torque perturbations to the human ankle in DP and IE. The ankle's rotations are measured using a motion capture camera system. The analytical and numerical approaches for estimation of the ankle's torques, rotations, and impedances are presented. A system validation using a mockup was conducted to verify the system's ability to estimate the impedance of a physical system in two DOFs. The developed system was capable of identifying the mockup's physical properties up to 15 Hz. The mockup's impedance magnitude at 0.9 Hz using a stochastic identification method was shown to be within 1.68% and 0.54% of the mockup's stiffness in DP and IE, respectively.
机译：本文描述了具有两个自由度（DOF）的振动平台的制造和初始评估，以估计两个自由度中人脚踝的机械阻抗。即背屈-足底屈曲（DP）和内翻-外翻（IE）。该设备由一个执行器和一个测力板模块组成。致动模块使用Bowden电缆在力板模块中产生高达168 N·m的DP扭矩和IE的26 N·m的扭矩扰动。这提供了可以安装在人行道中的低调系统。压板模块的框架以两个自由度旋转，从而在DP和IE中向人的脚踝施加扭矩扰动。脚踝的旋转是使用运动捕捉相机系统测量的。提出了用于估计脚踝的扭矩，旋转和阻抗的分析和数值方法。进行了使用模型的系统验证，以验证系统评估两个自由度中的物理系统阻抗的能力。开发的系统能够识别高达15 Hz的样机的物理特性。使用随机识别方法，模型在0.9 Hz时的阻抗幅度分别在DP和IE的模型刚度的1.68％和0.54％之内。

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