Скачать или смотреть Towards Biological Joint Impedance Estimation – ICORR 2025 Presentation

This video presents the work “Simultaneous Perturbation of Knee and Ankle Joints During Stance Phase of Walking: Towards Biological Joint Impedance Estimation”, originally prepared for the 2025 International Conference on Rehabilitation Robotics (ICORR 2025).

The study introduces and evaluates a custom pusher system that applies controlled perturbations behind the tibia during the stance phase of walking, eliciting measurable torque and angular responses at both the knee and ankle while preserving overall gait patterns. Analysis of torque–angle and torque–velocity relationships provides insight into energy and power changes between perturbed and unperturbed gait cycles, offering a first step towards estimating lower‑limb joint impedance during locomotion.

Authors:
Michele Paravano, Mohamed Irfan Refai, Herman van der Kooij, Massimo Sartori (University of Twente).

🔗 Related resources
ICORR 2025 paper (IEEE): DOI 10.1109/ICORR66766.2025.11062986 Simultaneous Perturbation of Knee and Ankle Joints During Stance Phase of Walking: Towards Biological Joint Impedance Estimation | IEEE Conference Publication | IEEE Xplore

Research page (University of Twente): “Simultaneous Perturbation of Knee and Ankle Joints during Stance Phase of Walking: Towards Biological Joint Impedance Estimation” research.utwente.nl

This work was conducted in the context of the SWAG project at the University of Twente.

SWAG website: SWAG -


Credit: This video was originally posted by the Neuromechanics and Neuromuscular Robotics Lab and can be found here

Funding acknowledgement
The SWAG project (Soft Wearable Assistive Garments for Human Empowerment) has received funding from the European Union’s Horizon Europe research and innovation programme under Grant Agreement No. 101120408. The views and opinions expressed are those of the authors only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the granting authority can be held responsible for them.