TY - GEN
T1 - An approach to observability analysis and estimation of human arm model
AU - Babiarz, Artur
AU - Klamka, Jerzy
AU - Zawiski, Radoslaw
AU - Niezabitowski, Michal
PY - 2014
Y1 - 2014
N2 - This article presents the analysis of a mathematical model of human arm's dynamics in terms of observability. The research is conducted in search of an observer which gives the possibility of arm tracking. The arm's model is based on a two-link manipulator able to move in horizontal and vertical planes. Model is analyzed after linearization and omittance of muscles representing part. The experimental part involves simulation of the motion parameters and real IMU measurements. Finally, simulation results concerning the use of observer in the form of Kalman and particle filters are presented.
AB - This article presents the analysis of a mathematical model of human arm's dynamics in terms of observability. The research is conducted in search of an observer which gives the possibility of arm tracking. The arm's model is based on a two-link manipulator able to move in horizontal and vertical planes. Model is analyzed after linearization and omittance of muscles representing part. The experimental part involves simulation of the motion parameters and real IMU measurements. Finally, simulation results concerning the use of observer in the form of Kalman and particle filters are presented.
UR - https://www.scopus.com/pages/publications/84906546091
U2 - 10.1109/ICCA.2014.6871049
DO - 10.1109/ICCA.2014.6871049
M3 - Conference contribution
AN - SCOPUS:84906546091
SN - 9781479928378
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 947
EP - 952
BT - 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
PB - IEEE Computer Society
T2 - 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
Y2 - 18 June 2014 through 20 June 2014
ER -