NDLI: Closed-loop System Identification of Ankle Dynamics With Compliant Loads

Content Provider	IEEE Xplore Digital Library
Author	Zhao, Y. Kearney, R.E.
Copyright Year	2007
Description	Author affiliation: McGill Univ., Montreal (Zhao, Y.; Kearney, R.E.)
Abstract	Joint stiffness, defined as the relation between the angular position of a joint and the torque acting about it, can be used to describe the dynamic behavior of the human ankle during posture and movement. Joint stiffness can be separated into intrinsic stiffness and reflex stiffness, which are modeled as a linear system and a LNL system, respectively. With a compliant load, joint stiffness can be viewed as being operated in closed-loop because the torque is fed back through the load to change the position. In this paper, we present a new method to estimate the intrinsic and reflex stiffness from the total torque measurement. An EIV (errors-in-variables) subspace system identification method is used to estimate the dynamics of each pathway directly from measured data. Simulation and experiment studies demonstrate that the method produces accurate results.
Starting Page	4919
Ending Page	4922
File Size	260805
Page Count	4
File Format	PDF
ISBN	9781424407873
ISSN	1557170X
DOI	10.1109/IEMBS.2007.4353443
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-08-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	System identification Muscles Impedance Nonlinear dynamical systems Torque control Biomedical engineering Position control Open loop systems Humans Linear systems Errors-In-Variable algorithm ankle dynamics closed loop identification subspace method
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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