Closed-loop system identification of ankle dynamics with compliant loads

Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings

Volumn , Issue , 2007, Pages 4919-4922

  Zhao, Y ^a,b   Kearney, R E ^a,b  

^a IEEE

^b MCGILL UNIVERSITY   (Canada)

Author keywords

Ankle dynamics; Closed loop identification; Errors in variable algorithm; Subspace method

Indexed keywords

CLOSED LOOP SYSTEMS; COMPUTER SIMULATION; DYNAMIC MODELS; IDENTIFICATION (CONTROL SYSTEMS); TORQUE MEASUREMENT;

ANKLE DYNAMICS; CLOSED LOOP IDENTIFICATION; ERRORS-IN-VARIABLE ALGORITHMS; INTRINSIC STIFFNESS; SUBSPACE METHODS;

BIOMECHANICS;

ANKLE; ARTICLE; BIOLOGICAL MODEL; BIOMECHANICS; BODY POSTURE; HUMAN; MOVEMENT (PHYSIOLOGY); MUSCLE CONTRACTION; NEUROMUSCULAR DISEASE; PATHOPHYSIOLOGY; PHYSIOLOGY; REACTION TIME; REFLEX; TORQUE; WEIGHT BEARING;

ANKLE JOINT; BIOMECHANICAL PHENOMENA; HUMANS; MODELS, BIOLOGICAL; MOVEMENT; MUSCLE CONTRACTION; NEUROMUSCULAR DISEASES; POSTURE; REACTION TIME; REFLEX; TORQUE; WEIGHT-BEARING;

EID: 57649232849     PISSN: 05891019     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IEMBS.2007.4353443     Document Type: Conference Paper

References (9)

1. R. E. Kearney, and I. W. Hunter, "System identification of human joint dynamics," Critical Reviews in Biomedical Engineering, Vol. 18, pp. 55-87, 1990
2. Kozakiewicz, A., Impedance control of an electrohydraulic actuator interacting with a human ankle joint: A new experimental setup for studying ankle dynamic stiffness during movement, M. Eng. Thesis, Department of Biomedical Engineering, McGill University, Montreal, 86, 1999
3. D. Ludvig and R. E. Kearney, "Real-Time Estimation of Intrinsic and Reflex Stiffness", Proc. IEEE EMBS 28, New York, USA, Page number 292-295, 2006
4. Y. Zhao and R. E. Kearney, "Decomposition of Parallel Cascade Systems For Ankle Dynamics Using Subspace Methods", Proc. IEEE EMBS 28, New York, USA, Page number 296-299, 2006
5. Y. Zhao, D. T. Westwick, R. E, Kearney, "Decomposition of a Parallel Cascade Model For Ankle Dynamics Using Subspace Method", Proceedings of American Control Conference, New York, USA, 2007
6. M. Verhaegen, "Identification of the deterministic part of mimo state space models given in innovations form from input-output data," Automatica, vol. 30, no. 1, pp. 61 - 74, 1994
7. C.T.Chou and M. Verhaegen, "Subspace algorithms for the identification of multivariable dynamic errors-in-variables models", Automatica, 33(10):1867-1869, 1997
8. Mirbagheri, M.M., Barbeau, H., Kearney, R.E. "Intrinsic and Reflex Contributions to Human Ankle Stiffness: Variation with Activation Level and Position", Experimental Brain Research. Vol. 135, pp.425-436, 2000.
9. B. Haverkamp, M, Verhaegen. "SMI toolbox 2.0", Systems and Control engineering Group, Delft University of Technology, 2001