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Linear parameter varying identification of ankle joint intrinsic stiffness during imposed walking movements | IEEE Conference Publication | IEEE Xplore

Linear parameter varying identification of ankle joint intrinsic stiffness during imposed walking movements


Abstract:

This paper describes a novel model structure and identification method for the time-varying, intrinsic stiffness of human ankle joint during imposed walking (IW) movement...Show More

Abstract:

This paper describes a novel model structure and identification method for the time-varying, intrinsic stiffness of human ankle joint during imposed walking (IW) movements. The model structure is based on the superposition of a large signal, linear, time-invariant (LTI) model and a small signal linear-parameter varying (LPV) model. The methodology is based on a two-step algorithm; the LTI model is first estimated using data from an unperturbed IW trial. Then, the LPV model is identified using data from a perturbed IW trial with the output predictions of the LTI model removed from the measured torque. Experimental results demonstrate that the method accurately tracks the continuous-time variation of normal ankle intrinsic stiffness when the joint position changes during the IW movement. Intrinsic stiffness gain decreases from full plantarflexion to near the mid-point of plantarflexion and then increases substantially as the ankle is dosriflexed.
Date of Conference: 03-07 July 2013
Date Added to IEEE Xplore: 26 September 2013
Electronic ISBN:978-1-4577-0216-7

ISSN Information:

PubMed ID: 24110839
Conference Location: Osaka, Japan

References

References is not available for this document.