A deep analysis of ankle mechanical properties is a fundamental step in the design of\nan exoskeleton, especially if it is to be suitable for both adults and children. This study aims\nat assessing age-related differences of ankle properties using pediAnklebot. To achieve this aim,\nwe enrolled 16 young adults and 10 children in an experimental protocol that consisted of the\nevaluation of ankle mechanical impedance and kinematic performance. Ankle impedance was\nmeasured by imposing stochastic torque perturbations in dorsi-plantarflexion and inversion-eversion\ndirections. Kinematic performance was assessed by asking participants to perform a goal-directed task.\nMagnitude and anisotropy of impedance were computed using a multiple-input multiple-output\nsystem. Kinematic performance was quantified by computing indices of accuracy, smoothness,\nand timing. Adults showed greater magnitude of ankle impedance in both directions and for all\nfrequencies, while the anisotropy was higher in children. By analyzing kinematics, children performed\nmovements with lower accuracy and higher smoothness, while no differences were found for the\nduration of the movement. In addition, adults showed a greater ability to stop the movement when\nhitting the target. These findings can be useful to a proper development of robotic devices, as well as\nfor implementation of specific training programs.
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