In the transverse plane, the changes in ankle rotations were not as significant as in the frontal plane.
Using a simple position controller, the recorded ankle rotations of a subject were reproduced by the prototype ankle mechanism.
Nevertheless, both plots indicate that the mechanism is capable of reproducing the ankle rotations of a human subject during step turn with desirable accuracy.
The input is the recorded right ankle rotations of a representative subject during swing and stance periods of the sidestep cutting at fast speed.
The aim of this evaluation study is to show that the mechanism is capable of reproducing the human ankle rotations during straight walk and turning.
Ankle rotations during straight walk and step turn were measured using a camera system to study the ankle function in the frontal plane during the turn.
Even so, the mechanism was capable of reproducing the ankle rotations of a human subject during step turn, adequate torques, and desirable mechanical impedance similar to a human ankle, while weighing 3 kg.
The average ankle rotations during the sidestep cut (Figure 2A) decreased during turn at the terminal stance by −32% with respect to the average ROM during the straight walk in the transverse plane.
