Ankle
Related papers: 20
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The ankle joint is a critical biomechanical structure in human locomotion, serving as the primary generator of propulsive force during walking, running, and jumping. In robotics and AI, the ankle is a central focus across multiple application domains, including powered prostheses for amputees, rehabilitation exoskeletons for stroke and spinal cord injury patients, and assistive wearable devices for healthy users. Engineers design ankle-focused robotic systems using actuators such as pneumatic artificial muscles, series elastic elements, and soft textile-based mechanisms to replicate or augment the joint's natural push-off mechanics, energy storage, and force transmission. Control algorithms often incorporate gait phase detection, EMG signals, and inertial measurement units to synchronize device assistance with the user's movement intent. The ankle matters significantly because it contributes the largest share of positive mechanical work during human gait, and restoring or enhancing its function can meaningfully reduce metabolic energy costs, improve walking stability, and accelerate neuromuscular recovery in clinical populations. Understanding ankle biomechanics thus underpins advances in both rehabilitation robotics and human performance augmentation.
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