Next Article in Journal
A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot
Next Article in Special Issue
Human–Robot Collaboration in Manufacturing Applications: A Review
Previous Article in Journal
“Hmm, Did You Hear What I Just Said?”: Development of a Re-Engagement System for Socially Interactive Robots
Previous Article in Special Issue
Control of the Sit-To-Stand Transfer of a Biped Robotic Device for Postural Rehabilitation
Open AccessArticle

Quantifying Age-Related Differences of Ankle Mechanical Properties Using a Robotic Device

Department of Mechanical and Aerospace Engineering, Sapienza University of Rome, 00184 Rome, Italy
Department of Economics, Engineering, Society and Business Organization (DEIM), University of Tuscia, 01100 Viterbo, Italy
Author to whom correspondence should be addressed.
Robotics 2019, 8(4), 96;
Received: 30 September 2019 / Revised: 8 November 2019 / Accepted: 11 November 2019 / Published: 13 November 2019
(This article belongs to the Special Issue Advances in Italian Robotics)
A deep analysis of ankle mechanical properties is a fundamental step in the design of an exoskeleton, especially if it is to be suitable for both adults and children. This study aims at assessing age-related differences of ankle properties using pediAnklebot. To achieve this aim, we enrolled 16 young adults and 10 children in an experimental protocol that consisted of the evaluation of ankle mechanical impedance and kinematic performance. Ankle impedance was measured by imposing stochastic torque perturbations in dorsi-plantarflexion and inversion-eversion directions. Kinematic performance was assessed by asking participants to perform a goal-directed task. Magnitude and anisotropy of impedance were computed using a multiple-input multiple-output system. Kinematic performance was quantified by computing indices of accuracy, smoothness, and timing. Adults showed greater magnitude of ankle impedance in both directions and for all frequencies, while the anisotropy was higher in children. By analyzing kinematics, children performed movements with lower accuracy and higher smoothness, while no differences were found for the duration of the movement. In addition, adults showed a greater ability to stop the movement when hitting the target. These findings can be useful to a proper development of robotic devices, as well as for implementation of specific training programs. View Full-Text
Keywords: ankle impedance; kinematic performance; pediAnklebot; robotics; measurements ankle impedance; kinematic performance; pediAnklebot; robotics; measurements
Show Figures

Figure 1

MDPI and ACS Style

Martelli, F.; Taborri, J.; Del Prete, Z.; Palermo, E.; Rossi, S. Quantifying Age-Related Differences of Ankle Mechanical Properties Using a Robotic Device. Robotics 2019, 8, 96.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Back to TopTop