Abstract
This paper describes a robust realtime estimation method of time varying human multijoint arm viscoelasticity during movement. The general idea of the present method will be described as follows: 1) The time varying human multijoint arm dynamics is modeled by two factors, simplified musculoskeletal dynamics and uncertainty factor consisting signal noises and modeling error of a rigid body dynamics. Additionally, pseudo-random perturbation is supplied so that its frequency beyond that of the voluntary component of the movement. Utilizing this feature, perturbed component of kinetic data can be extracted by band-pass filter. 2) By using the proposed model, a robust Kalman filter is designed for identifying the multijoint viscoelasticity of the human arm. The uncertainty factor can be considered by using some aspects of prior information of the noise and error. The proposed method is evaluated by demonstrating several simulation results of estimating arm viscoelasticity during movements.
