Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification

This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of hip, knee and ankle in sagittal plane. endpoint-based offers highly dynamic interaction accurate position control (as is typically required for identification), provides measurements position, force electromyography (EMG) leg muscles. It can be used with subject upright, corresponding natural posture during walking or standing, does not impose kinematic constraints on joint, contrast existing interfaces. Mechanical evaluations demonstrated that yields rigidity above 500 N/m low viscosity. Tests rigid dummy linear springs show it identify mechanical impedance limb accurately. A smooth perturbation developed tested human subject, which estimate hip neuromechanics.