Efficient estimation of time-varying intrinsic and reflex stiffness

Daniel Ludvig*, Eric J. Perreault, Robert E. Kearney

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Dynamic joint stiffness defines the dynamic relationship between the position of the joint and the torque acting about it; hence it is important in the control of movement and posture. Joint stiffness consists of two components: intrinsic stiffness and reflex stiffness. Measuring intrinsic and reflex torques directly is not possible, thus estimating intrinsic and reflex stiffness is challenging. A further complication is that both intrinsic and reflex stiffness vary with joint position and torque. Thus, the measurement of dynamic joint stiffness during movement requires a time-varying algorithm. Recently we described an algorithm to estimate time-varying intrinsic and reflex stiffness and demonstrated its application. This paper describes modifications to that algorithm that significantly improves the accuracy of the estimates it generates while increasing its computational efficiency by a factor of seven.

Original languageEnglish (US)
Title of host publication33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Pages4124-4127
Number of pages4
DOIs
StatePublished - Dec 26 2011
Event33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA, United States
Duration: Aug 30 2011Sep 3 2011

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Conference

Conference33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
CountryUnited States
CityBoston, MA
Period8/30/119/3/11

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ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

Cite this

Ludvig, D., Perreault, E. J., & Kearney, R. E. (2011). Efficient estimation of time-varying intrinsic and reflex stiffness. In 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 (pp. 4124-4127). [6091024] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/IEMBS.2011.6091024