Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking
Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during walking has been experimentally assessed, knee and hip join...
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| creator | van der Kooij, Herman Fricke, Simone S Ronald C van 't Veld Ander Vallinas Prieto Arvid Q L Keemink Schouten, Alfred C Edwin H F van Asseldonk |
| description | Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during walking has been experimentally assessed, knee and hip joint impedance during walking have not been identified yet. Here we developed and evaluated a lower limb perturbator to identify hip, knee and ankle joint impedance during treadmill walking. The lower limb perturbator (LOPER) consists of an actuator connected to the thigh via rods. The LOPER allows to apply force perturbations to a free-hanging leg, while standing on the contralateral leg, with a bandwidth of up to 39 Hz. While walking in minimal impedance mode, the interaction forces between LOPER and the thigh were low ( |
| doi_str_mv | 10.48550/arxiv.2112.05564 |
| format | Article |
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Whereas ankle impedance during walking has been experimentally assessed, knee and hip joint impedance during walking have not been identified yet. Here we developed and evaluated a lower limb perturbator to identify hip, knee and ankle joint impedance during treadmill walking. The lower limb perturbator (LOPER) consists of an actuator connected to the thigh via rods. The LOPER allows to apply force perturbations to a free-hanging leg, while standing on the contralateral leg, with a bandwidth of up to 39 Hz. While walking in minimal impedance mode, the interaction forces between LOPER and the thigh were low (<5 N) and the effect on the walking pattern was smaller than the within-subject variability during normal walking. Using a non-linear multibody dynamical model of swing leg dynamics, the hip, knee and ankle joint impedance were estimated at three time points during the swing phase for nine subjects walking at a speed of 0.5 m/s. The identified model was well able to predict the experimental responses for the hip and knee, since the mean variance accounted (VAF) for was 99% and 96%, respectively. The ankle lacked a consistent response and the mean VAF of the model fit was only 77%, and therefore the estimated ankle impedance was not reliable. The averaged across-subjects stiffness varied between the three time points within 34-66 and 0-3.5 Nm/rad for the hip and knee joint respectively. The damping varied between 1.9-4.6 and 0.02-0.14 Nms/rad for hip and knee respectively. The developed LOPER has a negligible effect on the unperturbed walking pattern and allows to identify hip and knee impedance during the swing phase.</description><identifier>EISSN: 2331-8422</identifier><identifier>DOI: 10.48550/arxiv.2112.05564</identifier><language>eng</language><publisher>Ithaca: Cornell University Library, arXiv.org</publisher><subject>Actuators ; Ankle ; Computer Science - Robotics ; Computer Science - Systems and Control ; Damping ; Decision making ; Dynamic models ; Exoskeletons ; Gait ; Identification methods ; Impedance ; Joints (anatomy) ; Knee ; Multibody systems ; Perturbation ; Prostheses ; Stiffness ; Thigh ; Treadmills ; Walking</subject><ispartof>arXiv.org, 2022-08</ispartof><rights>2022. This work is published under http://creativecommons.org/licenses/by/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.</rights><rights>http://creativecommons.org/licenses/by/4.0</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>228,230,780,784,885,27925</link.rule.ids><backlink>$$Uhttps://doi.org/10.48550/arXiv.2112.05564$$DView paper in arXiv$$Hfree_for_read</backlink><backlink>$$Uhttps://doi.org/10.1109/TNSRE.2022.3172497$$DView published paper (Access to full text may be restricted)$$Hfree_for_read</backlink></links><search><creatorcontrib>van der Kooij, Herman</creatorcontrib><creatorcontrib>Fricke, Simone S</creatorcontrib><creatorcontrib>Ronald C van 't Veld</creatorcontrib><creatorcontrib>Ander Vallinas Prieto</creatorcontrib><creatorcontrib>Arvid Q L Keemink</creatorcontrib><creatorcontrib>Schouten, Alfred C</creatorcontrib><creatorcontrib>Edwin H F van Asseldonk</creatorcontrib><title>Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking</title><title>arXiv.org</title><description>Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. 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The identified model was well able to predict the experimental responses for the hip and knee, since the mean variance accounted (VAF) for was 99% and 96%, respectively. The ankle lacked a consistent response and the mean VAF of the model fit was only 77%, and therefore the estimated ankle impedance was not reliable. The averaged across-subjects stiffness varied between the three time points within 34-66 and 0-3.5 Nm/rad for the hip and knee joint respectively. The damping varied between 1.9-4.6 and 0.02-0.14 Nms/rad for hip and knee respectively. The developed LOPER has a negligible effect on the unperturbed walking pattern and allows to identify hip and knee impedance during the swing phase.</description><subject>Actuators</subject><subject>Ankle</subject><subject>Computer Science - Robotics</subject><subject>Computer Science - Systems and Control</subject><subject>Damping</subject><subject>Decision making</subject><subject>Dynamic models</subject><subject>Exoskeletons</subject><subject>Gait</subject><subject>Identification methods</subject><subject>Impedance</subject><subject>Joints (anatomy)</subject><subject>Knee</subject><subject>Multibody systems</subject><subject>Perturbation</subject><subject>Prostheses</subject><subject>Stiffness</subject><subject>Thigh</subject><subject>Treadmills</subject><subject>Walking</subject><issn>2331-8422</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GOX</sourceid><recordid>eNotj8tOwzAQRS0kJKrSD2CFJdYJ9vgRe4nKo4FKVKISy8iJHerSOiEPCn9P0rKa0ejM1T0IXVEScyUEuTXNj_-OgVKIiRCSn6EJMEYjxQEu0Kxtt4QQkAkIwSZolVoXOl_6wnS-Crgq8cLX2ASLX4Jz-LnyocPpvnbWhMLh-77x4QN3G4ffDuO22pjWjW_vZvc5HC7ReWl2rZv9zylaPz6s54to-fqUzu-WkRFAI5nkOtdaOMMdB2sLpawlUkuqBJeJZLmxwCTnpbMsB6LLohhgMFpQomTCpuj6FHvUzerG703zm43a2VF7IG5ORN1UX71ru2xb9U0YOmUgiRagBafsD1cbWTg</recordid><startdate>20220809</startdate><enddate>20220809</enddate><creator>van der Kooij, Herman</creator><creator>Fricke, Simone S</creator><creator>Ronald C van 't Veld</creator><creator>Ander Vallinas Prieto</creator><creator>Arvid Q L Keemink</creator><creator>Schouten, Alfred C</creator><creator>Edwin H F van Asseldonk</creator><general>Cornell University Library, arXiv.org</general><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M7S</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>AKY</scope><scope>GOX</scope></search><sort><creationdate>20220809</creationdate><title>Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking</title><author>van der Kooij, Herman ; 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Whereas ankle impedance during walking has been experimentally assessed, knee and hip joint impedance during walking have not been identified yet. Here we developed and evaluated a lower limb perturbator to identify hip, knee and ankle joint impedance during treadmill walking. The lower limb perturbator (LOPER) consists of an actuator connected to the thigh via rods. The LOPER allows to apply force perturbations to a free-hanging leg, while standing on the contralateral leg, with a bandwidth of up to 39 Hz. While walking in minimal impedance mode, the interaction forces between LOPER and the thigh were low (<5 N) and the effect on the walking pattern was smaller than the within-subject variability during normal walking. Using a non-linear multibody dynamical model of swing leg dynamics, the hip, knee and ankle joint impedance were estimated at three time points during the swing phase for nine subjects walking at a speed of 0.5 m/s. The identified model was well able to predict the experimental responses for the hip and knee, since the mean variance accounted (VAF) for was 99% and 96%, respectively. The ankle lacked a consistent response and the mean VAF of the model fit was only 77%, and therefore the estimated ankle impedance was not reliable. The averaged across-subjects stiffness varied between the three time points within 34-66 and 0-3.5 Nm/rad for the hip and knee joint respectively. The damping varied between 1.9-4.6 and 0.02-0.14 Nms/rad for hip and knee respectively. The developed LOPER has a negligible effect on the unperturbed walking pattern and allows to identify hip and knee impedance during the swing phase.</abstract><cop>Ithaca</cop><pub>Cornell University Library, arXiv.org</pub><doi>10.48550/arxiv.2112.05564</doi><oa>free_for_read</oa></addata></record> |
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| subjects | Actuators Ankle Computer Science - Robotics Computer Science - Systems and Control Damping Decision making Dynamic models Exoskeletons Gait Identification methods Impedance Joints (anatomy) Knee Multibody systems Perturbation Prostheses Stiffness Thigh Treadmills Walking |
| title | Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking |
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