Identification of Joint Impedance

Course subject(s) 12. Identification of Joint Impedance

Case Studies

In this final lecture, three case studies will be explained: the first two cases are linear SIPE and the third case is about nonlinear Parameter Estimation (PE). For the linear cases, one example is given for 1DOF (case1) and one case study is about 3DOF (case 2). The non-linear case 3 is about intrinsic and reflexive torque of the ankle in stroke.

Identification of Joint Impedance

OCW-iframe

Robots for System Identification
Case 1: 1DOF shoulder joint control
Case 2: SIPE in the 3DOF shoulder
Case 3: Non-linear case - Ramp-hold ankle rotation in stroke
Challenges: SIPE during movement
Summary

Readings

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Files

Lecture 12 - Case_Study_Identification_of_Joint_Impedance

System Identification and Parameter Estimation by TU Delft OpenCourseWare is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
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