Particle filter-based viscoelasticity estimation of human multi-joint arm

Mingcong Deng, Yoshitaka Teramura, Aihui Wang, Akira Yanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


The 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 multijoint 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.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
Publication statusPublished - 2011
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670


  • Human multi-joint arm
  • Non-Gaussian noise
  • Particle filter
  • Variance estimation
  • Viscoelasticity

ASJC Scopus subject areas

  • Control and Systems Engineering


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