Department of Mechanical Engineering, University of Alberta, 10-203 Donadeo Innovation Centre for Engineering, 9211 116 Street NW, Edmonton, Alberta T6G 1H9, Canada.
Department of Biomedical Engineering, University of Alberta, 1098 Research Transition Facility, Edmonton, Alberta T6G 2V2, Canada.
Med Eng Phys. 2019 Apr;66:96-101. doi: 10.1016/j.medengphy.2019.02.012. Epub 2019 Mar 11.
Kinetic data acquired from force plates embedded in moving platforms naturally contain artifacts due to platform acceleration, called force plate inertial components. While they can be estimated and removed from the measured signals, the system's inertial properties need to be known. Our objective was to: (1) develop a method for estimating the inertial properties and force plate inertial components for any instrumented platform; (2) estimate the inertial properties specifically for the Computer-Assisted Rehabilitation Environment (CAREN); and (3) validate the estimates with new experimental data. Unloaded ramp-and-hold perturbations (for estimation) and unloaded random perturbations (for validation) were executed to obtain the force, moment, and motion of the CAREN platform. Inertial properties were estimated by minimizing the error between the measured and computed inertial forces and moments. Obtained estimates were validated by calculating the coefficient of determination (R) between the measured and computed forces or moments when keeping the inertial properties fixed. The estimates of the CAREN's inertial properties exhibited low variability across trials, and R for the validation trials was 0.90 ± 0.08 (mean ± standard deviation). The developed method can be used for removing inertial components from force plate signals, yielding reliable estimates of ground reactions in dynamic biomechanical research and clinical assessments.
从嵌入移动平台的力板获得的动力学数据自然会由于平台加速而包含伪影，称为力板惯性分量。虽然可以从测量信号中估计并去除这些分量，但需要知道系统的惯性特性。我们的目标是：（1）开发一种用于估计任何仪器化平台的惯性特性和力板惯性分量的方法；（2）专门估计 Computer-Assisted Rehabilitation Environment（CAREN）的惯性特性；（3）用新的实验数据验证这些估计。执行空载斜坡和保持扰动（用于估计）和空载随机扰动（用于验证）以获得 CAREN 平台的力、力矩和运动。通过最小化测量和计算惯性力和力矩之间的误差来估计惯性特性。通过在固定惯性特性的情况下计算测量力或力矩与计算力或力矩之间的确定系数（R）来验证获得的估计值。CAREN 的惯性特性的估计值在试验之间具有较低的可变性，验证试验的 R 值为 0.90 ± 0.08（平均值 ± 标准差）。开发的方法可用于从力板信号中去除惯性分量，从而在动态生物力学研究和临床评估中可靠地估计地面反应。
