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Model-Based Estimation of Ankle Joint Stiffness
We address the estimation of biomechanical parameters with wearable measurement technologies. In particular, we focus on the estimation of sagittal plane ankle joint stiffness in dorsiflexion/plantar flexion. For this estimation, a novel nonlinear biomechanical model of the lower leg was formulated...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2017
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5421673/ https://www.ncbi.nlm.nih.gov/pubmed/28353683 http://dx.doi.org/10.3390/s17040713 |
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author | Misgeld, Berno J. E. Zhang, Tony Lüken, Markus J. Leonhardt, Steffen |
author_facet | Misgeld, Berno J. E. Zhang, Tony Lüken, Markus J. Leonhardt, Steffen |
author_sort | Misgeld, Berno J. E. |
collection | PubMed |
description | We address the estimation of biomechanical parameters with wearable measurement technologies. In particular, we focus on the estimation of sagittal plane ankle joint stiffness in dorsiflexion/plantar flexion. For this estimation, a novel nonlinear biomechanical model of the lower leg was formulated that is driven by electromyographic signals. The model incorporates a two-dimensional kinematic description in the sagittal plane for the calculation of muscle lever arms and torques. To reduce estimation errors due to model uncertainties, a filtering algorithm is necessary that employs segmental orientation sensor measurements. Because of the model’s inherent nonlinearities and nonsmooth dynamics, a square-root cubature Kalman filter was developed. The performance of the novel estimation approach was evaluated in silico and in an experimental procedure. The experimental study was conducted with body-worn sensors and a test-bench that was specifically designed to obtain reference angle and torque measurements for a single joint. Results show that the filter is able to reconstruct joint angle positions, velocities and torque, as well as, joint stiffness during experimental test bench movements. |
format | Online Article Text |
id | pubmed-5421673 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2017 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-54216732017-05-12 Model-Based Estimation of Ankle Joint Stiffness Misgeld, Berno J. E. Zhang, Tony Lüken, Markus J. Leonhardt, Steffen Sensors (Basel) Article We address the estimation of biomechanical parameters with wearable measurement technologies. In particular, we focus on the estimation of sagittal plane ankle joint stiffness in dorsiflexion/plantar flexion. For this estimation, a novel nonlinear biomechanical model of the lower leg was formulated that is driven by electromyographic signals. The model incorporates a two-dimensional kinematic description in the sagittal plane for the calculation of muscle lever arms and torques. To reduce estimation errors due to model uncertainties, a filtering algorithm is necessary that employs segmental orientation sensor measurements. Because of the model’s inherent nonlinearities and nonsmooth dynamics, a square-root cubature Kalman filter was developed. The performance of the novel estimation approach was evaluated in silico and in an experimental procedure. The experimental study was conducted with body-worn sensors and a test-bench that was specifically designed to obtain reference angle and torque measurements for a single joint. Results show that the filter is able to reconstruct joint angle positions, velocities and torque, as well as, joint stiffness during experimental test bench movements. MDPI 2017-03-29 /pmc/articles/PMC5421673/ /pubmed/28353683 http://dx.doi.org/10.3390/s17040713 Text en © 2017 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Misgeld, Berno J. E. Zhang, Tony Lüken, Markus J. Leonhardt, Steffen Model-Based Estimation of Ankle Joint Stiffness |
title | Model-Based Estimation of Ankle Joint Stiffness |
title_full | Model-Based Estimation of Ankle Joint Stiffness |
title_fullStr | Model-Based Estimation of Ankle Joint Stiffness |
title_full_unstemmed | Model-Based Estimation of Ankle Joint Stiffness |
title_short | Model-Based Estimation of Ankle Joint Stiffness |
title_sort | model-based estimation of ankle joint stiffness |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5421673/ https://www.ncbi.nlm.nih.gov/pubmed/28353683 http://dx.doi.org/10.3390/s17040713 |
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