A robot-driven computational model for estimating passive ankle torque with subject-specific adaptation

Abstract

Article:Zhang, M, Meng, W, Davies, TC et al. (2 more authors) (2016) A robot-driven computational model for estimating passive ankle torque with subject-specific adaptation. IEEE Transactions on Biomedical Engineering, 63 (4). pp. [814][815][816][817][818][819][820][821] https://doi.org/10.1109/TBME.2015.2475161 © 2015 IEEE. This is an author produced version of a paper published in IEEE Transactions on Biomedical Engineering. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy.eprints@whiterose.ac.uk https://eprints.whiterose.ac.uk/ Reuse Unless indicated otherwise, fulltext items are protected by copyright with all rights reserved. The copyright exception in section 29 of the Copyright, Designs and Patents Act 1988 allows the making of a single copy solely for the purpose of non-commercial research or private study within the limits of fair dealing. The publisher or other rights-holder may allow further reproduction and re-use of this version -refer to the White Rose Research Online record for this item. Where records identify the publisher as the copyright holder, users can verify any specific terms of use on the publisher's website. TakedownIf you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing eprints@whiterose.ac.uk including the URL of the record and the reason for the withdrawal request. TBME-00615-2015.R1 1  Abstract-Background: Robot-assisted ankle assessment could potentially be conducted using sensor-based and model-based methods. Existing ankle rehabilitation robots usually use t o r q u e m e t e r s a n d m u l t i -a x i s l o a d c e l l s f o r m e a s u r i n g j o i n t dynamics. These measurements are accurate, but the contribution as a result of muscles and ligaments is not taken into account. Some computational ankle models have been developed to evaluate ligament strain and joint torque. These models do not include muscles, and thus are not suitable for an overall ankle assessment in robot-assisted therapy. Methods: This study proposed a computational ankle model for use in robot-assisted therapy with three rotational degrees of freedom (DOFs), 12 muscles and seven ligaments. This model is driven by robotics, uses three independent position variables as inputs, and outputs an overall ankle assessment. Subject-specific adaptations by geometric and strength scaling were also made to allow for a universal model. Results: This model was evaluated using published results and experimental data from 11 participants. Results show a high accuracy in the evaluation of ligament neutral length and passive joint torque. The subject-specific adaptation performance is hi...

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