{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/61869"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/61869","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"The measurement and interpretation of actively modulated static ankle impedance using a therap[e]utic robot","abstract":"In this thesis, I conducted an in-vivo study providing measurements of human static ankle mechanical impedance. Accurate measurements of ankle impedance when muscles were voluntarily activated were obtained using a therapeutic robot, Anklebot, and an electromyographic recording system. Important features of ankle impedance, and their variation with muscle activity, are discussed, including magnitude, symmetry and directions of minimum and maximum impedance. Voluntary muscle activation has a significant impact on ankle impedance, increasing it by up to a factor of three in our experiments. Furthermore, significant asymmetries and deviations from a linear two-spring model are present in many subjects, indicating that ankle impedance has a complex and individually idiosyncratic structure. I propose the use of Fourier series as a general representation, providing both insight and a precise quantitative characterization of human static ankle impedance.","abstract_html":"In this thesis, I conducted an in-vivo study providing measurements of human static ankle mechanical impedance. Accurate measurements of ankle impedance when muscles were voluntarily activated were obtained using a therapeutic robot, Anklebot, and an electromyographic recording system. Important features of ankle impedance, and their variation with muscle activity, are discussed, including magnitude, symmetry and directions of minimum and maximum impedance. Voluntary muscle activation has a significant impact on ankle impedance, increasing it by up to a factor of three in our experiments. Furthermore, significant asymmetries and deviations from a linear two-spring model are present in many subjects, indicating that ankle impedance has a complex and individually idiosyncratic structure. I propose the use of Fourier series as a general representation, providing both insight and a precise quantitative characterization of human static ankle impedance.","abstract_has_math":false,"creators":["Ho, Patrick, S.M. Massachusetts Institute of Technology"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Neville Hogan."],"committee_chairs":[],"committee_members":[],"year":2010,"date_issued":"2010","date_published":"2010","updated_at":"2026-07-22T22:22:26Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/61869","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Neville Hogan."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."]},{"key":"dc:creator","label":"Author","values":["Ho, Patrick, S.M. 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Accurate measurements of ankle impedance when muscles were voluntarily activated were obtained using a therapeutic robot, Anklebot, and an electromyographic recording system. Important features of ankle impedance, and their variation with muscle activity, are discussed, including magnitude, symmetry and directions of minimum and maximum impedance. Voluntary muscle activation has a significant impact on ankle impedance, increasing it by up to a factor of three in our experiments. Furthermore, significant asymmetries and deviations from a linear two-spring model are present in many subjects, indicating that ankle impedance has a complex and individually idiosyncratic structure. I propose the use of Fourier series as a general representation, providing both insight and a precise quantitative characterization of human static ankle impedance."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.M."]},{"key":"dc:title","label":"Title","values":["The measurement and interpretation of actively modulated static ankle impedance using a therap[e]utic robot"]}]}],"canonical_facts":{"dc:contributor.advisor":["Neville Hogan."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:contributor.other":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:creator":["Ho, Patrick, S.M. 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Furthermore, significant asymmetries and deviations from a linear two-spring model are present in many subjects, indicating that ankle impedance has a complex and individually idiosyncratic structure. I propose the use of Fourier series as a general representation, providing both insight and a precise quantitative characterization of human static ankle impedance."],"dc:description.degree":["S.M."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/61869"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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