Quantitative comparison of time-varying system identification methods to describe human joint impedance

Accurate and swift tuning of joint impedance is crucial to perform movement and interaction with our environment. Time-varying system identification enables quantification of joint impedance during movement. Many methods have been developed over the years, each with their own mathematical approach and underlying assumptions. Yet, for the...

Comparison of time-varying system identification methods to assess joint impedance

Joint impedance describes the dynamic resistance of a joint in response to position perturbations. Joint impedance is known to vary nonlinearly during movement caused by varying joint angle and muscle activation. The nonlinear behaviour can be described using linear time-varying models under certain assumption. Recently a number of time-varying...