Print Email Facebook Twitter Skirt Decomposition Method for the Identification of Linear Time-Varying Human Joint Admittance Title Skirt Decomposition Method for the Identification of Linear Time-Varying Human Joint Admittance Author Cavallo, Gaia (TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Biomechanical Engineering) Contributor van Wingerden, J.W. (mentor) Schouten, A.C. (mentor) van de Ruit, M.L. (graduation committee) van de Plas, R. (graduation committee) Lataire, John (graduation committee) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Systems and Control Date 2017-06-29 Abstract Human joint admittance changes with numerous factors constituting the operational point. For large changes of the operational point, joint admittance can be identified using Linear Time-Varying methods on torque and angularposition signals measured on human joints. Out of the available methods, the Skirt Decomposition method was selected due to its nonparametric structure and the limited number of a priori assumptions it makes. Its employment on the identification of human joint admittance was completely novel. The method wasapplied to a simulation model representing joint admittance and on experimental data measured from the wrist joint. In the experiment, the subjects were changing the applied torque to follow a desired trajectory, while the angle of the wrist was perturbed by the manipulator.With a properly designed multisineinput, taking into consideration the speed and complexity of the time variation, a variance accounted for (VAF) close to 100 % was obtained in the simulation study on all the tested conditions.From the experiment, it was seen that the contribution of the time variation in the frequency domain was partially masked by the output noise. The noise level could be decreased by lowering the amplitude of the desired torque, and by removing the voluntary torque from the analyzed data. With a desired torque level ranging between 5% and 20%, and considering the bandwidth between 2 Hz and 20 Hz, the mean power of the output residuals in the frequency domain ranged between 16.2 and 27.1 for all the tested conditions. Furthermore, the time-varying dynamics retrieved from the system function showed a clear correlation with the desired torque trajectory. Subject joint admittancelinear time-varyingmultisine To reference this document use: http://resolver.tudelft.nl/uuid:3187dfa9-8728-452e-88ed-a7af1e0a9f3a Part of collection Student theses Document type master thesis Rights © 2017 Gaia Cavallo Files PDF Gaia_Cavallo_4331591_MScThesis.pdf 6.31 MB Close viewer /islandora/object/uuid:3187dfa9-8728-452e-88ed-a7af1e0a9f3a/datastream/OBJ/view