Abstract
A deep analysis of ankle mechanical properties is a fundamental step in the design of an exoskeleton, especially if it is to be suitable for both adults and children. This study aims at assessing age-related differences of ankle properties using pediAnklebot. To achieve this aim, we enrolled 16 young adults and 10 children in an experimental protocol that consisted of the evaluation of ankle mechanical impedance and kinematic performance. Ankle impedance was measured by imposing stochastic torque perturbations in dorsi-plantarflexion and inversion-eversion directions. Kinematic performance was assessed by asking participants to perform a goaldirected task. Magnitude and anisotropy of impedance were computed using a multipleinput multiple-output system. Kinematic performance was quantified by computing indices of accuracy, smoothness, and timing. Adults showed greater magnitude of ankle impedance in both directions and for all frequencies, while the anisotropy was higher in children. By analyzing kinematics, children performed movements with lower accuracy and higher smoothness, while no differences were found for the duration of the movement. In addition, adults showed a greater ability to stop the movement when hitting the target. These findings can be useful to a proper development of robotic devices, as well as for implementation of specific training programs.
Highlights
In recent years, advanced technologies have allowed robot-mediated therapy to become a prominent solution for rehabilitation, as an alternative and/or a supporting solution to traditional rehabilitative programs [1,2]
Since the ability of locomotion is fundamental to avoid the worsening of the quality of life [4], one of the main challenges in the robotic field is the design and development of robots for ankle rehabilitation [5]; it is well-known that the ankle joint plays essential roles during walking, such as shock absorption, propulsion, lower limb coordination, adaptation to different environments, and maintenance of stability [6]
Through the aim of ankle robotic device development, a full insight into kinematic performance and dynamic characterization of ankle appears to be mandatory in order to design robots that operate in accordance with human behavior, leading to a stable and effective physical human–robot interaction [12]
Summary
In recent years, advanced technologies have allowed robot-mediated therapy to become a prominent solution for rehabilitation, as an alternative and/or a supporting solution to traditional rehabilitative programs [1,2]. Since the ability of locomotion is fundamental to avoid the worsening of the quality of life [4], one of the main challenges in the robotic field is the design and development of robots for ankle rehabilitation [5]; it is well-known that the ankle joint plays essential roles during walking, such as shock absorption, propulsion, lower limb coordination, adaptation to different environments, and maintenance of stability [6]. Through the aim of ankle robotic device development, a full insight into kinematic performance and dynamic characterization of ankle appears to be mandatory in order to design robots that operate in accordance with human behavior, leading to a stable and effective physical human–robot interaction [12].
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