Human Lower Leg Parameter Estimation using a Passive Exoskeleton Structure

Current Directions in Biomedical Engineering, vol. 11, pp. 83–86

Abstract

Abstract This paper introduces a framework for estimation of lower-leg biomechanical parameters (inertia, damping, stiffness) using a passive exoskeleton with embedded IMUs and position encoders. By combining Kalman filtering with sequential least squares optimization, we achieve subjectspecific identification during natural movement without motion capture systems.

Authors 2

1. Steffen K. Leonhardt Aachen Institute for Medical Information Technology

   RWTH Aachen University

   Affiliation as printed

   Institute for Medical Information Technology, RWTH Aachen University, Aachen , Germany

2. Marian Walter Aachen Institute for Medical Information Technology

   RWTH Aachen University

   Affiliation as printed

   Institute for Medical Information Technology, RWTH Aachen University, Aachen , Germany