Abstract
This paper attempts to present state monitoring in bio-actuators of a time varying human multijoint arm dynamics with uncertainty factors consisting of measurement noises and modeling error of the rigid body dynamics, where the uncertainty factors include non-Gaussian noises. First, a general robust filter system based on a score function approach is given. The proposed filter is designed to have the one-to-one correspondence between shape parameters and all-order even moments. Second, design procedure is given. Finally, examples using an experiment-based human arm model show that the proposed filter has desired accuracy and robustness.
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