Identifying Time-Varying Neuromuscular Response: A Recursive Least-Squares Algorithm with Pseudoinverse

Mario Olivari, Frank M. Nieuwenhuizen, Heinrich Bulthoff, Lorenzo Pollini

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

2 Citations (Scopus)

Abstract

Effectiveness of hap tic guidance systems depends on how humans adapt their neuromuscular response to the force feedback. A quantitative insight into adaptation of neuromuscular response can be obtained by identifying neuromuscular dynamics. Since humans are likely to vary their neuromuscular response during realistic control scenarios, there is a need for methods that can identify time-varying neuromuscular dynamics. In this work an identification method is developed which estimates the impulse response of time-varying neuromuscular system by using a Recursive Least Squares (RLS) method. The proposed method extends the commonly used RLS-based method by employing the pseudo inverse operator instead of the inverse operator. This results in improved robustness to external noise. The method was validated in a human in-The-loop experiment. The neuromuscular estimates given by the proposed method were more accurate than those obtained with the commonly used RLS-based method.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3079-3085
Number of pages7
ISBN (Print)9781479986965
DOIs
Publication statusPublished - 2016 Jan 12
EventIEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 - Kowloon Tong, Hong Kong
Duration: 2015 Oct 92015 Oct 12

Other

OtherIEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
CountryHong Kong
CityKowloon Tong
Period15/10/915/10/12

Keywords

  • Haptic AIDS
  • neuromuscular system
  • recursive least squares algorithm
  • timevarying identification

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Energy Engineering and Power Technology
  • Information Systems and Management
  • Control and Systems Engineering

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    Olivari, M., Nieuwenhuizen, F. M., Bulthoff, H., & Pollini, L. (2016). Identifying Time-Varying Neuromuscular Response: A Recursive Least-Squares Algorithm with Pseudoinverse. In Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 (pp. 3079-3085). [7379667] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2015.535