Human postural ankle torque control model during standing posture with a series elastic muscle-tendon actuator
نویسندگان
چکیده
منابع مشابه
Intrinsic ankle stiffness during standing increases with ankle torque and passive stretch of the Achilles tendon
Individuals may stand with a range of ankle angles. Furthermore, shoes or floor surfaces may elevate or depress their heels. Here we ask how these situations impact ankle stiffness and balance. We performed two studies (each with 10 participants) in which the triceps surae, Achilles tendon and aponeurosis were stretched either passively, by rotating the support surface, or actively by leaning f...
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Rehabilitation and assistive systems such as rotary series elastic actuators (RSEA) should provide the desired torque precisely. In this paper, to improve the life quality of those who suffer from weak knees, the control problem of a rotary series elastic actuator (RSEA) has been studied in order to generate soft human walking motion. These actuators produce the require torque, but the nonlinea...
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The fact that we as humans are bipeds and locomote over the ground with one foot in contact (walking), no feet in contact (running), or both feet in contact (standing) creates a major challenge to our balance control system. Because two-thirds of our body mass is located two-thirds of body height above the ground we are an inherently unstable system unless a control system is continuously actin...
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Exoskeletons have been used for human performance restoration and enhancement for many years. Due to the dynamic nature of human locomotion, torque control is widely used in lower-limb exoskeleton assistance during stance phases of walking. In these systems, series-elastic actuators (SEA) are commonly used to provide low error torque tracking in the presence of unknown and changing human dynami...
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Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Fur...
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ژورنال
عنوان ژورنال: SN Applied Sciences
سال: 2020
ISSN: 2523-3963,2523-3971
DOI: 10.1007/s42452-020-1955-5