A kinematic model of the human ankle

Dul, Jan; Johnson, Glen E.

doi:10.1016/0141-5425(85)90043-3

Cited by 79 publications

(58 citation statements)

References 19 publications

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“…Kinematics of the ankle complex has been studied in the past [10,11] and while some models describe its motion as purely rotational [12][13][14][15], others consider foot motions to be a consequence of rotations about two hinge/revolute joints (biaxial) in series [16,17] [ [18][19][20][21][22][23][24]. Ankle complex kinematics have also been modelled using four-bar linkages and spatial parallel mechanisms [15,25].…”

Section: Accepted Manuscript > Replace This Line Withmentioning

confidence: 99%

“…Here force along the tendon and force along the parallel element are represented by (19) and (20) respectively. (20) and (17)(18)(19)(20) leads to (21), which describes the time-based actuation of the contractile element with muscle activation and current length of the muscle-tendon unit. Definite solution for can be found by first expanding (21) into a quadratic function (22) and then finding the roots of the equation by appropriately selecting solutions considering their sign.…”

Section: Accepted Manuscript > Replace This Line Withmentioning

confidence: 99%

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Musculoskeletal modelling of human ankle complex: Estimation of ankle joint moments

Jamwal

Hussain

Tsoi³

et al. 2017

Clinical Biomechanics

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Word Count Abstract: 227 Word Count Main Text: 4328 Abstract-Background: A musculoskeletal model for the ankle complex is vital in order to enhance the understanding of neuro-mechanical control of ankle motions, diagnose ankle disorders and assess subsequent treatments. Motions at the human ankle and foot, however, are complex due to simultaneous movements at the two joints namely, the ankle joint and the subtalar joint. The musculoskeletal elements at the ankle complex, such as ligaments, muscles and tendons, have intricate arrangements and exhibit transient and nonlinear behaviour.Methods: This paper develops a musculoskeletal model of the ankle complex considering the biaxial ankle structure. The model provides estimates of overall mechanical characteristics (motion and moments) of ankle complex through consideration of forces applied along ligaments and muscle-tendon units. The dynamics of the ankle complex and its surrounding ligaments and muscle-tendon units is modelled and formulated into a state space model to facilitate simulations. A graphical user interface is also developed during this research in order to include the visual anatomical information by converting it to quantitative information on coordinates.Findings: Validation of the ankle model was carried out by comparing its outputs with those published in literature as well as with experimental data obtained from an existing parallel ankle rehabilitation robot.Interpretation: Qualitative agreement was observed between the model and measured data for both, the passive and active ankle motions during trials in terms of displacements and moments.

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Section: Accepted Manuscript > Replace This Line Withmentioning

confidence: 99%

Section: Accepted Manuscript > Replace This Line Withmentioning

confidence: 99%

Musculoskeletal modelling of human ankle complex: Estimation of ankle joint moments

Jamwal

Hussain

Tsoi³

et al. 2017

Clinical Biomechanics

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“…According to the right-hand coordinate system assigned to the lower limb, the signs for rotation angles are: dorsiflexion(+), plantarflexion(-), eversion(+) and inversion(−). Movements of the left leg are assumed to be the mirror-image of the right leg [10]. The parameters α i , a i , d i depend on the foot anatomy and size.…”

Section: Ankle Related Foot Kinematicsmentioning

confidence: 99%

“…We adopt an ankle kinematics model from biomechanics literature [10]. The lower limb is assumed to be composed of 3 rigid links capable to rotate between each other: the shank, the talus and the foot configuring a serial manipulator with 2 rotation joints.…”

Section: Ankle Related Foot Kinematicsmentioning

confidence: 99%

A parallel robot for ankle rehabilitation-evaluation and its design specifications

Syrseloudis

Emiris

2008

2008 8th IEEE International Conference on BioInformatics and BioEngineering

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Abstract-This paper investigates several robotic mechanisms for ankle function evaluation, measurement and physiotherapy. For the choice, design and operation of the mechanism the kinematics of the foot is described. This is based on a kinematics model of foot adopted from biomechanics literature, under the hypothesis that foot kinematics is similar to that of a 2R serial robot. A 3D scanner and an inertial sensor were used in order to fully specify the design framework by studying a larger sample of healthy subjects. Our experimental analysis confirms and enhances the 2R foot model, and leads us to the choice of the specific mechanism. We compute the required workspace and thus address the issues required for a complete and efficient design. We compare mechanisms based on serial and parallel robots, and choose a parallel tripod with an extra rotation axis for its simplicity, accuracy and generality. The robot must be capable to perform several multi-axis motions and sustain a significant range of forces and torques. The kinematic analysis of the robot confirms that it can follow all the range of foot movements.

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“…In most of these human gait analyses, ankle joint has been modelled based on a revolute joint [15,19,27], two revolute joints with non-orthogonal axes of rotations [7,9,24], or a spherical joint [26,30,31]. The popularity of modelling the ankle joint with the lower kinematics pairs are mainly due to their less-complex kinematics behaviour which make them simpler to be implemented in the human gait simulations and analyses.…”

Section: Introductionmentioning

confidence: 99%

Effects of foot modelling on the human ankle kinematics and dynamics

Gholami

Vilà

Kövecses

et al. 2015

Mechanism and Machine Theory

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In this study, effects of some of the foot modelling assumptions on the ankle kinematics and dynamics are investigated based on the experimental data. For the kinematics analysis, the appropriateness of the stationary axis of rotation of the human ankle flexion is examined. Moreover, an interpolated function which is capable of predicting the directional changes of this axis is proposed. For the dynamics analysis, two main modelling assumptions of the number of the foot segments and the dimension of the foot model are the subject of the study. To this end, the ankle joint torque and power are selected as the comparison indicators and inverse dynamics analyses are carried out. The analyses show that the number of segments of the foot model does not have a considerable effect on the calculated ankle joint torque. On the other hand, the calculated ankle power is highly affected by both of the segmentation and the dimension of the foot model.

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A kinematic model of the human ankle

Cited by 79 publications

References 19 publications

Musculoskeletal modelling of human ankle complex: Estimation of ankle joint moments

Musculoskeletal modelling of human ankle complex: Estimation of ankle joint moments

A parallel robot for ankle rehabilitation-evaluation and its design specifications

Effects of foot modelling on the human ankle kinematics and dynamics

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