Cable-driven robotic interface for lower limb neuromechanics identification
This addresses the need for versatile neuromechanics identification tools in biomechanics research, offering improvements over existing interfaces by allowing natural postures without kinematic constraints.
The paper introduces a cable-driven robotic interface for studying single-joint neuromechanics in the hip, knee, and ankle, achieving a rigidity above 500 N/m and accurate identification of limb mechanical impedance.
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control, as is typically required for neuromechanics identification. It can be used with the subject upright, corresponding to natural posture during walking or standing, and does not impose kinematic constraints on a joint, in contrast to existing interfaces. Mechanical evaluations demonstrated that the interface yields a rigidity above 500N/m with low viscosity. Tests with a rigid dummy leg and linear springs show that it can identify the mechanical impedance of a limb accurately. A smooth perturbation is developed and tested with a human subject, which can be used to estimate the hip neuromechanics.