Abstract
This paper presents a method for the human ankle joint kinematic measurement by using a mechanical linkage having 6 d.o.f., all equipped with position sensors. The device allows a complete identification of all kinematic parameters of the joint which can be expressed here in the form of the Instantaneous Helical Axis and gait portraits for 3 principal rotations of the joint: dorsi/planta flexion, pronation/supination and internal/external rotation. A symmetry study of the 2 ankles during walking was also realized which highlighted the asymmetrical nature of the human gait as the FFT analysis gives a significant difference in amplitude between the rotational velocity vectors of the 2 ankle joints.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Angeles, J., Lopez-Cajun, C.S.: Kinematic isotropy and the conditioning index of serial robotic manipulators. Int. J. Robot. Res. 11(6), 560–571 (1992)
Cai, D., Bidaud, P., Hayward, V., Gosselin, F.: Estimation of complex anatomical joint motions using a spatial goniometer. In: 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control – ROMANSY, pp. 399–406 (2010)
Cai, V.A.D., Bidaud, P., Hayward, V., Gosselin, F., Desailly, E.: Self-adjusting, isostatic exoskeleton for the human knee joint. In: Conference: Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 612–618 (2011)
Fontana, M., Fabio, S., Marcheschi, S., Bergamasco, M.: Haptic hand exoskeleton for precision grasp simulation. J. Mech. Robot. 5(4), 9 (2013)
Kinzel, G.L., Hall, A.S., Hillberry, B.M.: Measurement of the total motion between two body segments i. Analytical development. J. Biomech. 5, 93–105 (1972)
Leardini, A., O’Connor, J.J., Catani, F., Giannini, S.: Kinematics of the human ankle complex in passive flexion; a single degree of freedom system. J. Biomech. 32(2), 111–118 (1999)
Lundberg, A.: Kinematics of the ankle and foot: in vivo roentgen stereophotogrammetry. Acta Orthop. Scand. 60(sup233), 1–26 (1989)
McPoil, T.G., Knecht, H.G.: Biomechanics of the foot in walking: a function approach. J. Orthop. Sport Phys. Ther. 7(2), 69–72 (1985)
Nguyen, V.T., Huynh, L.T.G., Cai, V.A.D., Nguyen, M.T.: Kinematic measurement of the ankle joint using a six d.o.f. electro-goniometer. In: IEEE International Conference on System Science and Engineering (ICSSE), pp. 24–28 (2017)
Rodgers, M.M.: Dynamic biomechanics of the normal foot and ankle during walking and running. Phys. Ther. 68(12), 1822–1830 (1988)
Stienen, A.H.A., Hekman, E.E.G., van der Helm, F.C.T., van der Kooij, H.: Self-aligning exoskeleton axes through decoupling of joint rotations and translations. IEEE Trans. Robot. 25(3), 628–633 (2009)
Torricelli, D., Gonzalez, J., Weckx, M., Jimenez-Fabian, R., Vanderborght, B., Sartori, M., Dosen, S., Farina, D., Lefeber, D., Pons, J.L.: Human-like compliant locomotion: state of the art of robotic implementations. Bioinspiration Biomimetics 11(5), 051002 (2016)
Woltring, H.J., Huiskes, R., de Lange, A., Veldpaus, F.E.: Finite centroid and helical axis estimation from noisy landmark measurements in the study of human joint kinematics. J. Biomech. 18(5), 379–389 (1985)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Cai, V.A.D., Bidaud, P., Huynh, L.T.G. (2019). Design and Experimentation of a 3D Ankle Joint Goniometer. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_65
Download citation
DOI: https://doi.org/10.1007/978-3-319-78963-7_65
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78962-0
Online ISBN: 978-3-319-78963-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)