Abstract
Joint impedance represents the human joint dynamics. Since ankle joint impedance varies within the gait cycle, time-varying system identification techniques should be used to estimate it. Commonly, time-varying system identification techniques assume repeatably of joint impedance over cyclic
motions, without taking into consideration the inherent variability of human behavior. In this paper, a method that assumes smooth, cyclic joint impedance, yet allows for cycle-to-cycle variability, is proposed. The method was tested on isometric, cyclic experimental data from the ankle under conditions with a time variation comparable to the expected one during the gait cycle. The estimated model could describe the data with high accuracy (VAF of 94.96 %) and retrieve realistic inertia, damping and stiffness parameters. The results provide
motivation to further apply the method on experiments under dynamic conditions and to employ the proposed method as a tool for investigating the human joint dynamics during cyclic movements.
motions, without taking into consideration the inherent variability of human behavior. In this paper, a method that assumes smooth, cyclic joint impedance, yet allows for cycle-to-cycle variability, is proposed. The method was tested on isometric, cyclic experimental data from the ankle under conditions with a time variation comparable to the expected one during the gait cycle. The estimated model could describe the data with high accuracy (VAF of 94.96 %) and retrieve realistic inertia, damping and stiffness parameters. The results provide
motivation to further apply the method on experiments under dynamic conditions and to employ the proposed method as a tool for investigating the human joint dynamics during cyclic movements.
| Original language | English |
|---|---|
| Title of host publication | 5th International Conference on NeuroRehabilitation (ICNR2020) |
| Publisher | Springer |
| Pages | 495-499 |
| Number of pages | 5 |
| ISBN (Electronic) | 978-3-030-70316-5 |
| ISBN (Print) | 978-3-030-70315-8 |
| Publication status | Published - 2021 |
| Event | 5th International Conference on NeuroRehabilitation - Virtual format Duration: 13 Oct 2020 → 16 Oct 2020 http://www.icnr2020.org/ |
Conference
| Conference | 5th International Conference on NeuroRehabilitation |
|---|---|
| Abbreviated title | ICNR2020 |
| Period | 13/10/20 → 16/10/20 |
| Internet address |