Nonparametric identification of time-varying human joint admittance
G. Cavallo (Vrije Universiteit Brussel)
M. van de Ruit (TU Delft - Biomechatronics & Human-Machine Control)
A. C. Schouten (TU Delft - Biomechatronics & Human-Machine Control)
J. W.van Wingerden (TU Delft - Team Jan-Willem van Wingerden)
J. Lataire (Vrije Universiteit Brussel)
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Abstract
In this study, a nonparametric method, developed in Lataire et al. (2012), is applied to the identification of linear time-varying human joint admittance. The aim of the method, denoted Skirt Decomposition method, is to reconstruct the time-varying system function. The main contribution of the paper is to evaluate the possibilities and limitations of the method for the identification of linear time-varying human joint admittance in simulation. The proposed method delivers an estimate of linear time-varying joint admittance from a single experimental trial, provided that a multisine is used as excitation signal. The trade-off between i) the frequency resolution of the dynamics, and ii) the allowable complexity of the time variation is explored.