Estimation of Elastic and Viscous Torque at Ankle Joint Using Time-Varying Elastic Coefficient Model During Passive Plantar/Dorsiflexion

Hiroto Takai, Daisuke Yashiro, Satoshi Komada, Kazuhiro Yubai, Kotaro Takeda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The relationship between the ankle joint angle and the ankle joint torque during passive motion can be represented by a model using a time-varying elastic modulus. However, the current method assumes the viscosity term to be zero, resulting in modeling errors when the ankle joint is in passive motion at high angular velocities. To address this issue, this study adds a viscous term to the model. The validity of the proposed model is confirmed by the close match between the elastic torque obtained by subtracting the estimated viscous torque from the viscoelastic torque under experimental conditions with varying angular velocities.

Original languageEnglish
Title of host publicationIECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
ISBN (Electronic)9798350331820
DOIs
Publication statusPublished - 2023
Event49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 - Singapore, Singapore
Duration: 16-10-202319-10-2023

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
ISSN (Print)2162-4704
ISSN (Electronic)2577-1647

Conference

Conference49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Country/TerritorySingapore
CitySingapore
Period16-10-2319-10-23

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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