Figure 3

Experimental setup showing the rotary dynamometer and relevant components. Subjects interacted directly with the foot-plate (blue) which rendered the various experimental conditions. Position was measured by the encoder, torque was measured by the load cell (red), and mechanical impedance was calculated from the position and torque data using system identification techniques. The subject’s foot was placed in a rigid plastic orthosis (not shown), and their ankle center of rotation was aligned to the axis of rotation of the dynamometer.