Abstract
The human arm performs a variety of skillful movements by adjusting dynamic characteristics of musculoskeletal system. Such characteristics of musculoskeletal system can be mainly described as viscoelasticity of human multi-joint arm. Many areas require knowledge of viscoelasticity of human multi-joint arm. Therefore, measuring viscoelasticity of human multijoint arm is essential. In this paper, an estimating method of multi-joint viscoelasticity of human arm based on particle filter is proposed. To decrease the estimation error of viscoelasticity of human multi-joint arm, the variance of non-Gaussian distribution is estimated using particle filter algorithm, the viscoelasticity of human multi-joint arm can be estimated in some cases. The effectiveness of the proposed method is confirmed by the simulation and experimental results.
| Original language | English |
|---|---|
| Title of host publication | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Pages | 14312-14317 |
| Number of pages | 6 |
| Volume | 18 |
| Edition | PART 1 |
| DOIs | |
| Publication status | Published - 2011 |
| Event | 18th IFAC World Congress - Milano, Italy Duration: Aug 28 2011 → Sep 2 2011 |
Other
| Other | 18th IFAC World Congress |
|---|---|
| Country | Italy |
| City | Milano |
| Period | 8/28/11 → 9/2/11 |
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Keywords
- Human multi-joint arm
- Non-Gaussian noise
- Particle filter
- Variance estimation
- Viscoelasticity
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Particle filter-based viscoelasticity estimation of human multi-joint arm. / Deng, Mingcong; Teramura, Yoshitaka; Wang, Aihui; Yanou, Akira.
IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 18 PART 1. ed. 2011. p. 14312-14317.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Particle filter-based viscoelasticity estimation of human multi-joint arm
AU - Deng, Mingcong
AU - Teramura, Yoshitaka
AU - Wang, Aihui
AU - Yanou, Akira
PY - 2011
Y1 - 2011
N2 - The human arm performs a variety of skillful movements by adjusting dynamic characteristics of musculoskeletal system. Such characteristics of musculoskeletal system can be mainly described as viscoelasticity of human multi-joint arm. Many areas require knowledge of viscoelasticity of human multi-joint arm. Therefore, measuring viscoelasticity of human multijoint arm is essential. In this paper, an estimating method of multi-joint viscoelasticity of human arm based on particle filter is proposed. To decrease the estimation error of viscoelasticity of human multi-joint arm, the variance of non-Gaussian distribution is estimated using particle filter algorithm, the viscoelasticity of human multi-joint arm can be estimated in some cases. The effectiveness of the proposed method is confirmed by the simulation and experimental results.
AB - The human arm performs a variety of skillful movements by adjusting dynamic characteristics of musculoskeletal system. Such characteristics of musculoskeletal system can be mainly described as viscoelasticity of human multi-joint arm. Many areas require knowledge of viscoelasticity of human multi-joint arm. Therefore, measuring viscoelasticity of human multijoint arm is essential. In this paper, an estimating method of multi-joint viscoelasticity of human arm based on particle filter is proposed. To decrease the estimation error of viscoelasticity of human multi-joint arm, the variance of non-Gaussian distribution is estimated using particle filter algorithm, the viscoelasticity of human multi-joint arm can be estimated in some cases. The effectiveness of the proposed method is confirmed by the simulation and experimental results.
KW - Human multi-joint arm
KW - Non-Gaussian noise
KW - Particle filter
KW - Variance estimation
KW - Viscoelasticity
UR - http://www.scopus.com/inward/record.url?scp=84866761569&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866761569&partnerID=8YFLogxK
U2 - 10.3182/20110828-6-IT-1002.01897
DO - 10.3182/20110828-6-IT-1002.01897
M3 - Conference contribution
AN - SCOPUS:84866761569
SN - 9783902661937
VL - 18
SP - 14312
EP - 14317
BT - IFAC Proceedings Volumes (IFAC-PapersOnline)
ER -