An Alternative to Inverse Dynamics Joint Torques Estimation in Human Stance Based on a Takagi-sugeno Unknown-inputs Observer in the Descriptor Form

Abstract

An alternative to inverse-dynamics joint-torques estimation in human stance is proposed. This alternative is based on unknown-input observers which, from measurements of the angular positions, allow real-time estimation of joint torques and angular velocities. To design the aforementioned observer, a nonlinear state-space dynamical descriptor model is… (More)

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