A bilateral ankle manipulator to investigate human balance control

The ankles play an important role in human balance. In most studies investigating balance control the contribution of the left and right leg is not separated. However, in certain pathologies such as stroke and Parkinson's disease, balance control can be asymmetric. Here, a bilateral ankle perturbator (BAP) is presented, which applies support surface rotations to both ankles independently. The device consists of two small foot-size support surfaces, which are independently actuated. The BAP device can operate in either angle or torque control mode. The device is able to apply support surface rotations up to 8.6° with a bandwidth of 42 Hz. Additionally the platforms can be replaced by 6-DoF force plates to measure the center of pressure underneath each foot. With the optional force plates the bandwidth decreases to 16 Hz as a result of the additional weight. Two possible applications of the device to investigate human balance control are demonstrated: ankle stiffness by applying minimum jerk profiles and sensory reweighting of the proprioceptive information. In conclusion, we developed a bilateral ankle perturbator which is able to apply support surface rotations to both ankles independently. The major application of the device will be to investigate the contribution of both ankles to human balance control, and the interactions in balance control between both legs.