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    This study introduces a novel robotic interface for studying hip, knee, and ankle joint neuromechanics. This versatile system accurately measures position, force, and muscle activity (electromyography) in a natural upright posture.

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    Area of Science:

    • Biomechanics
    • Robotics
    • Neuroscience

    Background:

    • Investigating single-joint neuromechanics requires precise control and measurement capabilities.
    • Existing robotic interfaces often impose kinematic constraints or lack dynamic interaction.
    • Understanding lower limb joint neuromechanics is crucial for rehabilitation and performance analysis.

    Purpose of the Study:

    • To present a versatile, cable-driven robotic interface for investigating single-joint neuromechanics of the hip, knee, and ankle in the sagittal plane.
    • To enable accurate position control and dynamic interaction for neuromechanics identification.
    • To allow measurements of position, interaction force, and electromyography (EMG) in an upright, natural posture.

    Main Methods:

    • Development of an endpoint-based, cable-driven robotic interface.
    • Mechanical evaluations of interface rigidity and viscosity.
    • Testing with a rigid dummy leg and linear springs to assess impedance identification accuracy.
    • Implementation of a smooth perturbation method for human subject testing.

    Main Results:

    • The interface demonstrated high rigidity (>500 N/m) and low viscosity.
    • Accurate identification of limb mechanical impedance was confirmed using a dummy leg.
    • A novel perturbation method was successfully tested on a human subject for hip neuromechanics estimation.

    Conclusions:

    • The developed robotic interface is a versatile tool for studying lower limb joint neuromechanics.
    • It offers accurate control, dynamic interaction, and comprehensive measurement capabilities.
    • The system allows for natural posture investigation without imposing kinematic constraints, advancing neuromechanics research.