时变内在刚度和反射刚度的有效估计
Efficient estimation of time-varying intrinsic and reflex stiffness.
作者信息
Ludvig Daniel, Perreault Eric J, Kearney Robert E
机构信息
Sensory Motor Performance Program, Rehabilitation Institute of Chicago, Chicago, IL 60657, USA.
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2011;2011:4124-7. doi: 10.1109/IEMBS.2011.6091024.
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.
动态关节刚度定义了关节位置与作用于其上的扭矩之间的动态关系；因此，它在运动和姿势控制中很重要。关节刚度由两个部分组成：固有刚度和反射刚度。直接测量固有扭矩和反射扭矩是不可能的，因此估计固有刚度和反射刚度具有挑战性。另一个复杂之处在于，固有刚度和反射刚度都随关节位置和扭矩而变化。因此，在运动过程中测量动态关节刚度需要一种时变算法。最近，我们描述了一种估计时变固有刚度和反射刚度的算法，并展示了其应用。本文描述了对该算法的改进，这些改进显著提高了其生成估计值的准确性，同时将其计算效率提高了七倍。
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