TY - GEN
T1 - Efficient estimation of time-varying intrinsic and reflex stiffness
AU - Ludvig, Daniel
AU - Perreault, Eric J.
AU - Kearney, Robert E.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84055200356&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84055200356&partnerID=8YFLogxK
U2 - 10.1109/IEMBS.2011.6091024
DO - 10.1109/IEMBS.2011.6091024
M3 - Conference contribution
C2 - 22255247
AN - SCOPUS:84055200356
SN - 9781424441211
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 4124
EP - 4127
BT - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
T2 - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Y2 - 30 August 2011 through 3 September 2011
ER -