Abstract
AbstractThe human arm performs a variety of skillful movements by adjusting dynamic characteristics of musculoskeletal system. Such characteristics of musculoskeletal system can be mainly described as viscoelasticity of human multi-joint arm. Many areas require knowledge of viscoelasticity of human multi-joint arm. Therefore, measuring viscoelasticity of human multi-joint arm is essential. In this paper, an estimating method of multi-joint viscoelasticity of human arm based on particle filter is proposed. To decrease the estimation error of viscoelasticity of human multi-joint arm, the variance of non-Gaussian distribution is estimated using particle filter algorithm, the viscoelasticity of human multi-joint arm can be estimated in some cases. The effectiveness of the proposed method is confirmed by the simulation and experimental results.
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