Linear Parameter System Identification for Joint Impedance

The dynamic relation between the displacement and reaction torque of the human joint is known as joint impedance. Properly quantifying joint impedance has medical potential in the diagnosis, understanding and modelling of movement disorders associated with neuromuscular conditions like cerebral palsy, stroke, dystonia and old age. The...

Fault Diagnosis of Self-Localization in Autonomous Vehicles Using a Model-Based Approach: The WEpods Case

Autonomous driving is a development that has gained a lot of attention lately, because it can lead to major improvements in the mobility sector. One example of a research project that aims to develop vehicles that are capable of reaching the highest level of autonomy in driving, is the WEpods project. The goal of this research is in line with...

Model-based validation of a tracking algorithm to quantify strain in muscles from two-dimensional ultrasound images

Fascicle shear is theoretically a mechanism by which skeletal muscles lengthen. Existing ultrasound based techniques allow measurement of muscle architecture parameters, but not the quantification of shear strain. In this study, an algorithm that tracks the shear strain from ultrasound images using a continuum representation of the muscle was...

Modulation of stretch reflexes to environmental dynamics and perturbation properties

Reflexes and co-contraction are the two mechanisms used for effective limb control when humans face unexpected perturbations in their daily activities. When the environment has reduced stability margins, reflexes are tempered due to the oscillations caused by the neural time delay of the reflexive pathways. An explanation is that reflexes adapt...

Optimizing Reduction in Muscle Fatigue in FES Using Stimulation Patterns

Introduction: During functional electrical stimulation (FES) the onset of muscle fatigue limits the treatment and rehabilitation of patients. In previous work, variable frequency trains (VFT) have been suggested to take advantage of a tension enhancement property in muscle. The varying of other parameters in stimulation trains, such as amplitude...

A new omnidirectional steerable needle concept: Design and testing

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