Perception of Mechanical Impedance During Active Ankle and Knee Movement

During locomotion, energy flow through the legs is governed by the mechanical impedance of each joint. These mechanical properties, including stiffness and damping, have recently been quantified at the ankle joint. However, the relevance of these properties in human sensorimotor control is unclear. An important aspect of sensorimotor control is the ability to sense small changes in stimuli. Thus, we investigated the human ability to detect small changes in the stiffness and damping components of leg joint impedance when interacting with a mechanical system coupled to the ankle or knee. The perception threshold was determined via a psychophysical paradigm that required subjects to compare the mechanical impedance of virtual spring-mass-damper systems. Subjects reliably detected impedance changes of 11% and 12% at the ankle and knee, respectively. Additionally, the perception of stiffness and damping were comparable, indicating that the biomechanical relevance of the stiffness and damping components of impedance may be similar. Finally, these results offer novel insight into the design and control of impedance-based technologies, such as prostheses and exoskeletons.