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The ankle contributes the majority of mechanical power during walking and is a frequently studied joint in biomechanics. Specifically, researchers have extensively investigated the torque–angle relationship for the ankle during dynamic tasks, such as walking and running. The slope of this relationship has been termed the “quasi-stiffness.” However, over time, researchers have begun to interchange...
In order to provide natural, biomimetic control to recently developed powered ankle prostheses, we must characterize the impedance of the ankle during ambulation tasks. To this end, a platform robot was developed that can apply an angular perturbation to the ankle during ambulation and simultaneously acquire ground reaction force data. In this study, we detail the design of the platform robot and...
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