ABSTRACT

The paper is concerned with force-sensorless estimation of human joint impedance utilizing an impulsive force. We analyze the dynamic response of a human joint induced by the impulsive perturbation and derive the relationship between the amplitude of the perturbation force and the initial value of the induced angular velocity. This relationship means that the force amplitude required by the estimation algorithm can be replaced with a specific value of the velocity, which leads to eliminating the need for force-sensing. In order to verify the force-sensorless impedance estimation experimentally, a wearable-type snap-through buckling mechanism is employed as the impulsive force generator. The experiments are carried out with a benchmark setup and a healthy male participant. The impedance estimation has been achieved without using any force sensor and performs good consistency with the specific mechanical impedance of the setup and with the ankle impedance reported by related works respectively. The obtained results thus indicate the feasibility of the proposed force-sensorless scheme.

抽象的

本文涉及利用脉冲力的人体关节阻抗的无力传感器估计。我们分析了由脉冲扰动引起的人体关节的动态响应，并得出了扰动力的振幅与所引起的角速度的初始值之间的关系。这种关系意味着估算算法所需的力幅值可以用特定的速度值代替，从而消除了对力感测的需要。为了通过实验验证无力传感器的阻抗估计，采用了可穿戴式突跳屈曲机构作为脉冲力发生器。实验是在基准设置和健康男性参与者的情况下进行的。无需使用任何力传感器即可实现阻抗估计，并且与设置的特定机械阻抗和相关工作分别报告的脚踝阻抗具有良好的一致性。因此，获得的结果表明了所提出的无力传感器方案的可行性。