Robotics@SNU

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[PAST] Quantitative Characterization of Human Ankle Mechanical Impedance using a Wearable Ankle Robot
[PAST] Quantitative Characterization of Human Ankle Mechanical Impedance using a Wearable Ankle Robot [4]
2013 / 10 / 11 / PM 4:00
Location: 301 - 1420
Speaker: Hyunglae Lee

2013.8~Present Postdoctoral Fellow, Sensory Motor Performance Program, Rehabilitation Institute of Chicago
2013.6~2013.8 Postdoctoral Associate, Newman Lab for Biomechanics and Human Rehabilitation, MIT
2010.9~2012.9 Research Assistant, Providence Veteran Affairs Medical Center
2006.7~2008.8 Research Scientist, Intelligence and Interaction Research Center, KIST
2004.2~2006.6 Researcher, Mobile Handset R&D Center, LG Electronics
2008.9~2013.5 Ph.D, Mechanical Engineering, MIT (Prof. Neville Hogan)
2002.3~2004.2 M.S, Mechanical and Aerospace Engineering, SNU (Prof. Kunwoo Lee)
1998.3~2002.2 B.S, Mechanical and Aerospace Engineering, SNU
                    Postdoctoral Fellow, Biomedical Engineering, Northwestern University

 

 

abstract :

 

While all joints in the kinematic chain between the foot and the trunk participate in lower extremity functions, the contribution of the ankle is significant for healthy people as well as for neurologically impaired patients. In this talk, quantitative characterization of ankle mechanical impedance for young healthy people is presented to better understand its roles in interaction with the environment and to provide a baseline for clinical studies in patients, especially those with neurological impairments.
Ankle mechanical impedance, which is a dynamic relationship between the angular displacement and the corresponding torque at the ankle joint, was studied in multiple degrees-of-freedom (DOF) simultaneously, both in the sagittal and frontal planes. Multivariable studies using a wearable ankle robot, Anklebot, enabled assessment of several important ankle properties, unavailable from single DOF studies: the spatial ankle impedance structure, the coupling between two DOF, and the contributions of neural feedback to the ankle.
Novel methods presented in this talk can be generally applicable to studies of multivariable joint mechanical impedance, both for multi-joint impedance and single joint multi-DOF impedance. Application to the human wrist joint and a preliminary study on stroke patients are also briefly addressed.


jhp9395@robotics.snu.ac.kr, 02-880-7149