Visco-elastic parameters, Parameter estimation, Recursive estimation, Least squares, Dynamic model

Resumen: About 30% of the elderly population of the USA exhibits a motor impairment that inhibits daily activities and increases the probability of a fall. The ability of these individuals to maintain proper balance is largely dependent on their control over their hip and ankle joints. Studying the mechanical behavior of these joints is important for the analysis of balancing compensatory motions. This paper presents a human balancing model based on a double inverted pendulum whose segments (representing the thorax and legs) are joined by a spring-damper system, creating a second order Kelvin-Voigt system. The model presented here allows for the estimation of joint apparent constant visco-elastic parameters when presented with a disturbance. The paper outlines the deduction of the model, shows initial results for the estimation of joint parameters using both simulated and experimental data.

¿Cómo citar?

Angel Cerda-Lugo, Alejandro González, Antonio Cárdenas & Davide Piovesan. A Model for the Estimation of Ankle and Hip Joints Visco-Elastic Parameters During Balancing. Memorias del Congreso Nacional de Control Automático, pp. 189-194, 2018.

Palabras clave

Visco-elastic parameters, Parameter estimation, Recursive estimation, Least squares, Dynamic model

• Bortolami, S.B., DiZio, P., Rabin, E., and Lackner, J. (2003). Analysis of human postural responses to recoverable falls. Experimental brain research, 151(3), 387–404.
• Chavez-Romero, R., Cardenas, A., and Piovesan, D. (2014). Viscoelastic properties of the ankle during quiet standing via raster images and ekf. In 2014 IEEE Signal Processing in Medicine and Biology Symposium, IEEE SPMB 2014 – Proceedings.
• Coronado, L.E., Chavez-Romero, R., Maya, M., Cardenas, A., and Piovesan, D. (2015). Combining genetic algorithms and extended kalman filter to estimate ankle’s muscle-tendon parameters. In ASME 2015 Dynamic Systems and Control Conference, V001T15A002–V001T15A002. American Society of Mechanical Engineers.
• Khalil, W. and Dombre, E. (2004). Modeling, Identification & Control of Robots. Kogan Page Science, London, UK. Meirovitch, L. (2010). Methods of analytical dynamics. Courier Corporation.
• Menz, H.B., Morris, M.E., and Lord, S.R. (2005). Foot and ankle characteristics associated with impaired balance and functional ability in older people. The Journals of Gerontology: Series A, 60(12), 1546–1552.
• Mooring, B.W., Roth, Z.S., and Driels, M.R. (1991). Fundamentals of Manipulator Calibration. John Wiley & Sons, Inc, New York, USA.
• Ogata, K. (1998). System dynamics, volume 3. Prentice Hall New Jersey.
• Penrose, R. (1955). A generalized inverse for matrices. Mathematical proceedings of the Cambridge Philosophical Society, 51, 406–413.
• Piovesan, D., Kennett, C., Chavez-Romero, R., Panza, M.J., and Cárdenas, A. (2015). Stiffness boundary conditions for critical damping in balance recovery. In ASME 2015 International Mechanical Engineering Congress and Exposition, V003T03A066– V003T03A066. American Society of Mechanical Engineers.
• Roberts, T.J. and Azizi, E. (2011). Flexible mechanisms: the diverse roles of biological springs in vertebrate movement. Journal of Experimental Biology, 214(3), 353–361.
• Simon, D. (2006). Optimal state estimation: Kalman, H infinity, and nonlinear approaches. John Wiley & Sons.
• Winter, D.A. (2009). Biomechanics and motor control of human movement. John Wiley & Sons.