Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking

Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during walking has been experimentally assessed, knee and hip joint impedance during walking have not been...

Revealing time-varying joint impedance with kernel-based regression and nonparametric decomposition

During movements, humans continuously regulate their joint impedance to minimize control effort and optimize performance. Joint impedance describes the relationship between a joint's position and torque acting around the joint. Joint impedance varies with joint angle and muscle activation and differs from trial-to-trial due to inherent...

TEP-SIPE for Joint Impedance Identification: Experimental Evaluation

To allow for efficient and robust gait pattern, humans instantaneously modulate their joint impedance. Lower-limb amputees and patients suffering from neurological diseases partly lack that ability. Therefore, prosthetic and rehabilitative devices have been designed to re- store and repair nominal locomotion. For bio-inspired control of these...