CONTINUOUS MOTION AND TIME-VARYING STIFFNESS ESTIMATION OF THE HUMAN ELBOW JOINT BASED ON SEMG

2019 ◽  
Vol 19 (05) ◽  
pp. 1950040 ◽  
Author(s):  
KEXIANG LI ◽  
XUAN LIU ◽  
JIANHUA ZHANG ◽  
MINGLU ZHANG ◽  
ZIMIN HOU
Keyword(s):  
Elbow Joint ◽  
Joint Stiffness ◽  
Muscle Stiffness ◽  
Time Varying ◽  
Joint Movement ◽  
Estimation Model ◽  
Unknown Parameters ◽  
Continuous Motion ◽  
Robotic Joints ◽  
Mean Square Errors

The flexibility of body joints plays an important role in daily life, particularly when performing high-precision rapid pose switching. Importantly, understanding the characteristics of human joint movement is necessary for constructing robotic joints with the softness of humanoid joints. A novel method for estimating continuous motion and time-varying stiffness of the human elbow joint was proposed in the current study, which was based on surface electromyography (sEMG). We used the Hill-based muscle model (HMM) to establish a continuous motion estimation model (CMEM) of the elbow joint, and the genetic algorithm (GA) was used to optimize unknown parameters. Muscle short-range stiffness (SRS) was then used to characterize muscle stiffness, and a joint kinetic equation was used to express the relationship between skeletal muscle stiffness and elbow joint stiffness. Finally, we established a time-varying stiffness estimation model (TVSEM) of the elbow joint based on the CMEM. In addition, five subjects were tested to verify the performance of the CMEM and TVSEM. The total average root-mean-square errors (RMSEs) of the CMEM with the optimal trials were 0.19[Formula: see text]rad and 0.21[Formula: see text]rad and the repeated trials were 0.24[Formula: see text]rad and 0.25[Formula: see text]rad, with 1.25-kg and 2.5[Formula: see text]kg-loads, respectively. The values of elbow joint stiffness ranged from 0–40[Formula: see text]Nm/rad for different muscle activities, which were estimated by the TVSEM.

Neural compensation for fatigue-induced changes in muscle stiffness during perturbations of elbow angle in human

1992 ◽  
Vol 68 (2) ◽  
pp. 449-470 ◽  
Author(s):  
R. F. Kirsch ◽  
W. Z. Rymer
Keyword(s):  
Impulse Response ◽  
Elbow Joint ◽  
Joint Stiffness ◽  
Muscle Stiffness ◽  
Elbow Flexor ◽  
Reflex Pathways ◽  
Flexor Muscles ◽  
Elbow Flexor Muscles ◽  
Before And After ◽  
Isometric Torque

1. The contribution to muscle force regulation provided by reflex pathways was studied in the elbow flexor muscles of seven normal human subjects, with the use of voluntary fatigue to induce a deficit in the force-generating capability of these muscles. To estimate the changes in the mechanical state of the muscle and the compensatory actions taken by reflex pathways to minimize the impact of fatigue, stochastic and "step" angular perturbations were applied to the joint, and the resulting joint stiffness and electromyographic (EMG) responses were compared before and after fatigue. 2. The magnitude of contractile fatigue, induced by repeatedly lifting a weight via a pulley system, was quantified by comparing the slope of the isometric torque-EMG relationship before and after fatigue. The exercise routine was quite effective in producing severe and long-lasting fatigue, with average percentage changes in the isometric torque-EMG slope of 210-306% for biceps and 129-205% for brachioradialis, depending on the point in time examined. 3. The torque response to a rapid step stretch of the elbow joint was quite similar before and after fatigue for the time interval before reflex action (less than 20 ms after stretch onset), suggesting that intrinsic muscle stiffness for a given mean torque level was not changed by fatigue. The steady-state torque level attained after completion of the stretch was always decreased after fatigue, indicating a decrease in the reflex component of joint stiffness, but this decrease was small compared with the change in the isometric torque-EMG relationship and was accompanied by a significantly larger incremental EMG response after fatigue. This increase in incremental EMG after fatigue was found to be of reflex origin, with activation-related reflex gain changes apparently playing a significant role only at low contraction levels. 4. Torque and angle responses recorded during stochastic perturbations were used to identify elbow joint compliance impulse responses. A second-order mechanical model was fit to each impulse response, and the parameters representing joint inertia, elastic stiffness, and viscous stiffness were used to summarize changes in joint mechanical properties as the mean contraction level was varied. For a perturbation with a relatively wide bandwidth (0-25 Hz), fatigue had little or no effect on the form of the compliance impulse response, apparently because the stimulus disabled reflex force generation in elbow flexor muscles, whereas a perturbation with a more restricted bandwidth (0-10 Hz) demonstrated consistent decreases in joint stiffness after fatigue.(ABSTRACT TRUNCATED AT 400 WORDS)

Complex projection synchronization of fractional order uncertain complex-valued networks with time-varying coupling

2019 ◽  
Vol 33 (29) ◽  
pp. 1950351 ◽  
Author(s):  
Dawei Ding ◽  
Xiaolei Yao ◽  
Hongwei Zhang
Keyword(s):  
Fractional Order ◽  
Coupling Strength ◽  
Dynamic Networks ◽  
Sufficient Conditions ◽  
Feedback Gain ◽  
Time Varying ◽  
Order Complex ◽  
Unknown Parameters ◽  
Synchronization Problem ◽  
Complex Valued

In this paper, the complex projection synchronization problem of fractional complex-valued dynamic networks is investigated. Considering the time-varying coupling and unknown parameters of the fractional order complex network, several decentralized adaptive strategies are designed to adjust the coupling strength and controller feedback gain in order to investigate the complex projection synchronization problem of the system. Moreover, based on the designed identification law, the uncertain parameters in the network can be estimated. Using adaptive law which balances the time-varying coupling strength and the feedback gain of the controller, some sufficient conditions are obtained for the complex projection synchronization of complex networks. Finally, numerical simulation examples are provided to illustrate the efficiency of the complex projection synchronization strategies of the fractional order complex dynamic networks.

Experimental evaluation of time-varying impulse shaping with a two-link flexible manipulator

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 339-345 ◽  
Author(s):  
Jung-Keun Cho ◽  
Youn-Sik Park
Keyword(s):  
Vibration Reduction ◽  
Vertical Plane ◽  
Joint Stiffness ◽  
Flexible Manipulator ◽  
Input Shaping ◽  
Time Varying ◽  
Modal Properties ◽  
Revolute Joints ◽  
Point Motion ◽  
Point To Point

SUMMARYIn the authors' previous paper,10 an input shaping method was presented to reduce motion-induced vibrations effectively for various classes of flexible systems. In this paper, the effectiveness of the shaping method is experimentally demonstrated with a two-link flexible manipulator systemThe manipulator for experiments includes two revolute joints and two flexible links, and moves on a vertical plane under gravity. An analytic model is developed considering the flexibility of the system and its joint stiffness in order to derive an appropriate estimation of dynamic modal properties. The input shaping method used in this work utilizes time-varying modal properties obtained from the model instead of the conventional input shaping method which employs time-invariant modal properties. A point-to-point motion is tested in order to show the effectivess of the proposed shaping method in vibration reduction during and after a given motion. The given reference trajectories are shaped to suppress the motion induced vibration. The test results demonstrate that the link vibration can be greatly suppressed during and after a motion, and the residual vibration reduction was observed more than 90% by employing this time-varying impulse shaping technique.

Dependence of elbow joint stiffness measurements on speed, angle, and muscle contraction level

2014 ◽  
Vol 47 (5) ◽  
pp. 1234-1237 ◽  
Author(s):  
Laurel Kuxhaus ◽  
Sisi Zeng ◽  
Charles J. Robinson
Keyword(s):  
Muscle Contraction ◽  
Elbow Joint ◽  
Joint Stiffness

scholarly journals A New Gaze Estimation Method Based on Homography Transformation Derived from Geometric Relationship

2020 ◽  
Vol 10 (24) ◽  
pp. 9079
Author(s):  
Kaiqing Luo ◽  
Xuan Jia ◽  
Hua Xiao ◽  
Dongmei Liu ◽  
Li Peng ◽  
...  
Keyword(s):  
Estimation Method ◽  
Gaze Estimation ◽  
Estimation Model ◽  
Experimental Accuracy ◽  
Unknown Parameters ◽  
The Gaze ◽  
Marquardt Algorithm ◽  
Mapping Equation ◽  
Estimation System ◽  
Homography Transformation

In recent years, the gaze estimation system, as a new type of human-computer interaction technology, has received extensive attention. The gaze estimation model is one of the main research contents of the system. The quality of the model will directly affect the accuracy of the entire gaze estimation system. To achieve higher accuracy even with simple devices, this paper proposes an improved mapping equation model based on homography transformation. In the process of experiment, the model mainly uses the “Zhang Zhengyou calibration method” to obtain the internal and external parameters of the camera to correct the distortion of the camera, and uses the LM(Levenberg-Marquardt) algorithm to solve the unknown parameters contained in the mapping equation. After all the parameters of the equation are determined, the gaze point is calculated. Different comparative experiments are designed to verify the experimental accuracy and fitting effect of this mapping equation. The results show that the method can achieve high experimental accuracy, and the basic accuracy is kept within 0.6∘. The overall trend shows that the mapping method based on homography transformation has higher experimental accuracy, better fitting effect and stronger stability.

scholarly journals Data-Driven Ohmic Resistance Estimation of Battery Packs for Electric Vehicles

Energies ◽  
2019 ◽  
Vol 12 (24) ◽  
pp. 4772 ◽  
Author(s):  
Kaizhi Liang ◽  
Zhaosheng Zhang ◽  
Peng Liu ◽  
Zhenpo Wang ◽  
Shangfeng Jiang
Keyword(s):  
Electric Vehicles ◽  
Estimation Method ◽  
Recursive Least Squares ◽  
Data Driven ◽  
Gradient Boosting ◽  
Estimation Model ◽  
Ohmic Resistance ◽  
Extreme Gradient Boosting ◽  
Battery Packs ◽  
Mean Square Errors

Accurate state-of-health (SOH) estimation for battery packs in electric vehicles (EVs) plays a pivotal role in preventing battery fault occurrence and extending their service life. In this paper, a novel internal ohmic resistance estimation method is proposed by combining electric circuit models and data-driven algorithms. Firstly, an improved recursive least squares (RLS) is used to estimate the internal ohmic resistance. Then, an automatic outlier identification method is presented to filter out the abnormal ohmic resistance estimated under different temperatures. Finally, the ohmic resistance estimation model is established based on the Extreme Gradient Boosting (XGBoost) regression algorithm and inputs of temperature and driving distance. The proposed model is examined based on test datasets. The root mean square errors (RMSEs) are less than 4 mΩ while the mean absolute percentage errors (MAPEs) are less than 6%. The results show that the proposed method is feasible and accurate, and can be implemented in real-world EVs.

scholarly journals A Joint Method Based on Time-Frequency Distribution to Detect Time-Varying Interferences for GNSS Receivers with a Single Antenna

Sensors ◽  
2019 ◽  
Vol 19 (8) ◽  
pp. 1946 ◽  
Author(s):  
Qingshui Lv ◽  
Honglei Qin
Keyword(s):  
Hough Transform ◽  
Frequency Estimation ◽  
Satellite System ◽  
Time Varying ◽  
Actual Performance ◽  
Time Frequency ◽  
Single Antenna ◽  
Global Navigation Satellite ◽  
Mean Square Errors ◽  
Joint Method

In this paper, a joint method combining Hough transform and reassigned smoothed pseudo Wigner-Ville distribution (RSPWVD) is presented to detect time-varying interferences with crossed frequency for a Global Navigation Satellite System (GNSS) receiver with a single antenna. The proposed method can prevent the cross-term interference and detect the time-varying interferences with crossed frequency which cannot be achieved by the classical time-frequency (TF) analysis with the peak detection method. The actual performance of the developed method has been evaluated by experiments with conditions where the real BeiDou system (BDS) B1I signals are corrupted by the simulated chirp interferences. The results of experiments show that the introduced method is effectively able to detect chirp interferences with crossed frequency and provide the same root mean square errors (RMSE) of the parameter estimation for chirp one and the improved initial frequency estimation for chirp two compared with the Hough transform of Wigner-Ville distribution (WVD) when the jamming to noise ratio (JNR) equals or surpasses 4 dB.

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