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Identification of a parametric, discrete-time model of ankle stiffness | IEEE Conference Publication | IEEE Xplore

Identification of a parametric, discrete-time model of ankle stiffness


Abstract:

Dynamic ankle joint stiffness defines the relationship between the position of the ankle and the torque acting about it and can be separated into intrinsic and reflex com...Show More

Abstract:

Dynamic ankle joint stiffness defines the relationship between the position of the ankle and the torque acting about it and can be separated into intrinsic and reflex components. Under stationary conditions, intrinsic stiffness can described by a linear second order system while reflex stiffness is described by Hammerstein system whose input is delayed velocity. Given that reflex and intrinsic torque cannot be measured separately, there has been much interest in the development of system identification techniques to separate them analytically. To date, most methods have been nonparametric and as a result there is no direct link between the estimated parameters and those of the stiffness model. This paper presents a novel algorithm for identification of a discrete-time model of ankle stiffness. Through simulations we show that the algorithm gives unbiased results even in the presence of large, non-white noise. Application of the method to experimental data demonstrates that it produces results consistent with previous findings.
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: 24110874
Conference Location: Osaka, Japan

References

References is not available for this document.