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    Online Estimation Algorithm for a Biaxial Ankle Kinematic Model With Configuration Dependent Joint Axes

    Source: Journal of Biomechanical Engineering:;2011:;volume( 133 ):;issue: 002::page 21005
    Author:
    Y. H. Tsoi
    ,
    S. Q. Xie
    DOI: 10.1115/1.4003315
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The kinematics of the human ankle is commonly modeled as a biaxial hinge joint model. However, significant variations in axis orientations have been found between different individuals and also between different foot configurations. For ankle rehabilitation robots, information regarding the ankle kinematic parameters can be used to estimate the ankle and subtalar joint displacements. This can in turn be used as auxiliary variables in adaptive control schemes to allow modification of the robot stiffness and damping parameters to reduce the forces applied at stiffer foot configurations. Due to the large variations observed in the ankle kinematic parameters, an online identification algorithm is required to provide estimates of the model parameters. An online parameter estimation routine based on the recursive least-squares (RLS) algorithm was therefore developed in this research. An extension of the conventional biaxial ankle kinematic model, which allows variation in axis orientations with different foot configurations had also been developed and utilized in the estimation algorithm. Simulation results showed that use of the extended model in the online algorithm is effective in capturing the foot orientation of a biaxial ankle model with variable joint axis orientations. Experimental results had also shown that a modified RLS algorithm that penalizes a deviation of model parameters from their nominal values can be used to obtain more realistic parameter estimates while maintaining a level of estimation accuracy comparable to that of the conventional RLS routine.
    keyword(s): Algorithms AND Errors ,
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      Online Estimation Algorithm for a Biaxial Ankle Kinematic Model With Configuration Dependent Joint Axes

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/145484
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    • Journal of Biomechanical Engineering

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    contributor authorY. H. Tsoi
    contributor authorS. Q. Xie
    date accessioned2017-05-09T00:42:36Z
    date available2017-05-09T00:42:36Z
    date copyrightFebruary, 2011
    date issued2011
    identifier issn0148-0731
    identifier otherJBENDY-27194#021005_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/145484
    description abstractThe kinematics of the human ankle is commonly modeled as a biaxial hinge joint model. However, significant variations in axis orientations have been found between different individuals and also between different foot configurations. For ankle rehabilitation robots, information regarding the ankle kinematic parameters can be used to estimate the ankle and subtalar joint displacements. This can in turn be used as auxiliary variables in adaptive control schemes to allow modification of the robot stiffness and damping parameters to reduce the forces applied at stiffer foot configurations. Due to the large variations observed in the ankle kinematic parameters, an online identification algorithm is required to provide estimates of the model parameters. An online parameter estimation routine based on the recursive least-squares (RLS) algorithm was therefore developed in this research. An extension of the conventional biaxial ankle kinematic model, which allows variation in axis orientations with different foot configurations had also been developed and utilized in the estimation algorithm. Simulation results showed that use of the extended model in the online algorithm is effective in capturing the foot orientation of a biaxial ankle model with variable joint axis orientations. Experimental results had also shown that a modified RLS algorithm that penalizes a deviation of model parameters from their nominal values can be used to obtain more realistic parameter estimates while maintaining a level of estimation accuracy comparable to that of the conventional RLS routine.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleOnline Estimation Algorithm for a Biaxial Ankle Kinematic Model With Configuration Dependent Joint Axes
    typeJournal Paper
    journal volume133
    journal issue2
    journal titleJournal of Biomechanical Engineering
    identifier doi10.1115/1.4003315
    journal fristpage21005
    identifier eissn1528-8951
    keywordsAlgorithms AND Errors
    treeJournal of Biomechanical Engineering:;2011:;volume( 133 ):;issue: 002
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian