抄録
The purpose of this study is to estimate the ankle joint impedance, which plays an important role in human walking. We develop a wearable device to impose a perturbation on the ankle and to obtain the dynamic response. The device employs a direct drive mechanism, which can eliminate the interference to human’s voluntary movement during standby state. In order to verify the proposed device, the experiment was conducted with one healthy participant under the quasistationary condition. The perturbation containing the frequency components of 1 ~ 40 Hz was applied to the ankle, and the dynamic response was recorded. We then found a second-order transfer function fitting to the experimental data in terms of the frequency response. The coefficients of the transfer function correspond to the ankle impedance, and this estimation result is consistent with that of the related work.
