ArticleIEEE transactions on bio-medical engineering2013
The difference between stiffness and quasi-stiffness in the context of biomechanical modeling.
Article in IEEE transactions on bio-medical engineering, 2013. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 34 papers.
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Who cites it
34 citing papers in PubMed.
- The variable stiffness orthosis: customizable mechanics for assistance and rehabilitation.Journal of neuroengineering and rehabilitation · 2026Article
- Determining the Validity of 2D Motion Capture for Estimating Lower Extremity Joint Quasi-Stiffness During Gait in Chronic Stroke Survivors.Restorative neurology and neuroscience · 2026Article
- Humans self-organise balance control strategies on a dynamic platform.Scientific reports · 2025Article
- Variable-stiffness prosthesis improves biomechanics of walking across speeds compared to a passive device.Scientific reports · 2024Article
- Reliability and minimal detectable change of stiffness and other mechanical properties of the ankle joint in standing and walking.Gait & posture · 2024Article
- Non-linear properties of the Achilles tendon determine ankle impedance over a broad range of activations in humans.The Journal of experimental biology · 2023Article
- Effects of Walking Speed and Added Mass on Hip Joint Quasi-Stiffness in Healthy Young and Middle-Aged Adults.Sensors (Basel, Switzerland) · 2023Article
- Simultaneous Estimation of the Vertical Stiffness in the Knee and Hip for Healthy Human Subjects during Walking.Bioengineering (Basel, Switzerland) · 2023Article
- A Review of Current State-of-the-Art Control Methods for Lower-Limb Powered Prostheses.Annual reviews in control · 2023Article
- Atypical triceps surae force and work patterns underlying gait in children with cerebral palsy.Journal of orthopaedic research : official publication of the Orthopaedic Research Society · 2022Article
- A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint.Science robotics · 2022Article
- How Does Ankle Mechanical Stiffness Change as a Function of Muscle Activation in Standing and During the Late Stance of Walking?IEEE transactions on bio-medical engineering · 2022Article
- Leveraging Joint Mechanics Simplifies the Neural Control of Movement.Frontiers in integrative neuroscience · 2022Article
- Adapting Semi-Active Prostheses to Real-World Movements: Sensing and Controlling the Dynamic Mean Ankle Moment Arm with a Variable-Stiffness Foot on Ramps and Stairs.Sensors (Basel, Switzerland) · 2021Article
- How Compliance of Surfaces Affects Ankle Moment and Stiffness Regulation During Walking.Frontiers in bioengineering and biotechnology · 2021Article
- Shear Wave Tensiometry Reveals an Age-Related Deficit in Triceps Surae Work at Slow and Fast Walking Speeds.Frontiers in sports and active living · 2020Article
- Knee Joint Biomechanics in Physiological Conditions and How Pathologies Can Affect It: A Systematic Review.Applied bionics and biomechanics · 2020Review
- Design of Muscle Reflex Control for Upright Standing Push-Recovery Based on a Series Elastic Robot Ankle Joint.Frontiers in neurorobotics · 2020Article
- How Well Do Commonly Used Co-contraction Indices Approximate Lower Limb Joint Stiffness Trends During Gait for Individuals Post-stroke?Frontiers in bioengineering and biotechnology · 2020Article
- Design and Validation of a Partial-Assist Knee Orthosis with Compact, Backdrivable Actuation.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2019Article
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Authors and funding
4 authors.
Funding
Abstract
The ankle contributes the majority of mechanical power during walking and is a frequently studied joint in biomechanics. Specifically, researchers have extensively investigated the torque-angle relationship for the ankle during dynamic tasks, such as walking and running. The slope of this relationship has been termed the "quasi-stiffness." However, over time, researchers have begun to interchange the concepts of quasi-stiffness and stiffness. This is an especially important distinction as researchers currently begin to investigate the appropriate control systems for recently developed powered prosthetic legs. The quasi-stiffness and stiffness are distinct concepts in the context of powered joints, and are equivalent in the context of passive joints. The purpose of this paper is to demonstrate the difference between the stiffness and quasi-stiffness using a simple impedance-controlled inverted pendulum model and a more sophisticated biped walking model, each with the ability to modify the trajectory of an impedance controller's equilibrium angle position. In both cases, stiffness values are specified by the controller and the quasi-stiffness are shown during a single step. Both models have widely varying quasi-stiffness but each have a single stiffness value. Therefore, from this simple modeling approach, the differences and similarities between these two concepts are elucidated.
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