342 Real-time Measurement of Dynamic Stiffness on the Body Surface Using Self-Excited Vibration Generated by Positive Feedback of the Velocity : Improvement of Response and Accuracy by the Kalman Filter

Abstract

The method for real time measurement of the dynamic stiffness in subcutaneous tissues was developed by the authors. The dynamic stiffness is estimated by using the self-excited vibration generated by the positive feedback of velocity. In this report, we show the response and the accuracy of frequency estimation are improved by using Kalman filter as an adaptive filter. And the internal damping of the apparatus measurement is reduced. As a result, the time-varying dynamic stiffness on human body by muscular contraction can be measured rapidly and stability. And the dynamic stiffness on parts of the human body are measured, their characteristics are compared.