DocumentCode :
1487298
Title :
A robust ensemble data method for identification of human joint mechanical properties during movement
Author :
Xu, Yangming ; Hollerbach, John M.
Author_Institution :
Sarcos Res. Corp., Salt Lake City, UT, USA
Volume :
46
Issue :
4
fYear :
1999
fDate :
4/1/1999 12:00:00 AM
Firstpage :
409
Lastpage :
419
Abstract :
This paper describes a perturbation method for the identification of linear time-varying systems with an unknown input (voluntary joint input) using ensemble data. The method separates the unknown input and the perturbation through high-pass filtering and recasts the multi-input single-output system identification into single-input single-output system identification. The method is robust to intertrial variation, and can track changes of system dynamics up to 5 Hz. Analysis and simulation are given for the conditions similar to those for the human arm experiments. Experiments show that mechanical properties of the human elbow joint change with voluntary movement speed and that the mean stiffness with voluntary movement is in the range of the posture and is higher than reported before.
Keywords :
biomechanics; elasticity; identification; mechanical properties; physiological models; 5 Hz; high-pass filtering; human arm experiments; human elbow joint; human joint mechanical properties identification; human movement biomechanics; intertrial variation; mean stiffness; multi-input single-output system identification; perturbation method; posture; robust ensemble data method; single-input single-output system identification; unknown input; voluntary joint input; Analytical models; Cities and towns; Elbow; Filtering; Humans; Mechanical factors; Perturbation methods; Robustness; System identification; Time varying systems; Adult; Elasticity; Elbow Joint; Female; Forearm; Humans; Least-Squares Analysis; Linear Models; Male; Models, Biological; Movement; Reference Values; Signal Processing, Computer-Assisted;
fLanguage :
English
Journal_Title :
Biomedical Engineering, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9294
Type :
jour
DOI :
10.1109/10.752938
Filename :
752938
Link To Document :
بازگشت