2017
DOI: 10.1109/tnsre.2017.2679722
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Ankle Joint Intrinsic Dynamics is More Complex than a Mass-Spring-Damper Model

Abstract: This paper describes a new small signal parametric model of ankle joint intrinsic mechanics in normal subjects. We found that intrinsic ankle mechanics is a third-order system and the second-order mass-spring-damper model, referred to as IBK, used by many researchers in the literature cannot adequately represent ankle dynamics at all frequencies in a number of important tasks. This was demonstrated using experimental data from five healthy subjects with no voluntary muscle contraction and at seven ankle positi… Show more

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Cited by 33 publications
(12 citation statements)
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References 33 publications
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“…This is consistent with recent evidence that joint mechanical properties are more complex than second order (Sobhani Tehrani et al, 2017). …”
Section: Experimental Studysupporting
confidence: 93%
See 1 more Smart Citation
“…This is consistent with recent evidence that joint mechanical properties are more complex than second order (Sobhani Tehrani et al, 2017). …”
Section: Experimental Studysupporting
confidence: 93%
“…However, recent experimental evidence suggests that the intrinsic dynamics stiffness is more complex than second-order (Sobhani Tehrani et al, 2017). Therefore, we choose to describe intrinsic stiffness with the TV, non-parametric model…”
Section: Model Formulation and Parameter Identificationmentioning
confidence: 99%
“…These results indicate that contribution of reflex stiffness is highest at low contractions and decreases as contraction level increase, whereas, intrinsic stiffness monotonically increases with contraction level. Note that we did not attempt to parameterize the LPV IRFs for the intrinsic pathway as a second-order system because: (1) intrinsic dynamics may be more complex than the I,B,K model as demonstrated recently in Sobhani et al (2017) (2) the fitting procedure would involve non-linear minimization that would introduce an additional source of error.…”
Section: Discussionmentioning
confidence: 99%
“…To reduce this elongated torque response, the control scheme of the actuator should be revised. Another discrepancy between simulation and experiment is the sim-plified 2nd-order model used for the intrinsic pathway, while evidence exists that a more complex model is required [14].…”
Section: Validation Of Identification Algorithmmentioning
confidence: 99%