Lecture 1: Introduction

Edwin van Asseldonk

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OVERVIEW

§ Introduction to Identification of Human Motor Control

§ Contents course

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 LET’S INTRODUCE OURSELVES

Edwin Alfred
van Asseldonk Schouten

Ronald Michelle Simone

van ‘t Veld van Mierlo Fricke
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CONTENT

§ What do you expect?

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WHAT IS SYSTEM IDENTIFIATION

§ What is system identification?

A set of methods to obtain a mathematical model of a dynamic system from
experimental data.
§ What is the goal of system identification?
The obtained model should on the one hand be compact and on the other
hand be adequate for the intended purpose.
§ How is system identification being carried out?
In dedicated experiments measurements are carried out on a system. The obtained
system response is analysed.

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LET’S START SIMPLE - SPRING

Input F(t) Output x(t)

1
! " = &(")
%

Simple input suffices to describe complete system

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LET’S START SIMPLE – MASS SPRING DAMPER SYSTEM

Input F(t) Output x(t)

m !(#) 1
=
%(#) (# ) + +# + ,

Dynamical systems
Single sine does not suffice – broadband input signal is required
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USING SYSTEM IDENTIFICATION TO DERIVE MODEL
OF SYSTEM IN THE FREQUENCY DOMAIN
Input F(t) Output x(t)
H?

Spectral analysis Spectral analysis

Spectral densities Spectral densities

Closed/open loop
system identification

Frequency Response Function of H

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THE CENTRAL NERVOUS SYSTEM

§ Closed loop system

§ Many feedback loops
§ Movement control
§ Cardiovascular system
§ Thermoregulation
§ Pain modulation
§ etc.

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 PHYSIOLOGICAL FEEDBACK CONTROL SYSTEMS
Disturbance w(t)
Desired
output yref(t) Input u(t) Output y(t)
Controller Process

Sensor

Feedback controlled Controlled output y Disturbance(s) w Input u

physiological system
Circulation
Ventilation
Body temperature regulation
Arterial blood pressure
[CO2] and [O2] in blood
Body core temperature
Metabolic demand Heart rate
Body orientation Heart contraction
Metabolic demand Breathing rate
[CO2] and [O2] in Tidal volume
environmental air
Environmental temperature Vasodilation skin
Metabolic heat production Sweating
Shivering
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 NEUROMUSCULAR FEEDBACK CONTROL SYSTEM

muscle
reference activation joint
angle angle

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 FUNDAMENTAL PROBLEM
U(w) N2(w) Y(w)
e.g. muscle activation e.g. joint angle
N1(w)
H1 H2

H3

Open-loop approach to closed-loop system

• H2 cannot be estimated by U(ω) and Y(ω)
• It is a closed loop: U will influence Y and Y will influence U
• H2 /(1+ H2·H3·H1)-1 will be estimated, but this depends on
noise levels (see lecture 7)
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FUNDAMENTAL SOLUTION:
APPLY PERTURBATIONS

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 SOLUTION: CLOSED LOOP IDENTIFICATION
Perturbation
Measurement
Z(w)
noise N2(w)
Voluntary
N1(w) U(w) Y(w)
action
H1 H2

H3

Closed-loop approach
• Use known perturbation signal Z(ω) to separate H1, H2 and H3 !
• Measure effect of Z(ω) inside the closed loop on U(ω) and Y(ω)
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RECIPE FOR SYSTEM IDENTIFICATION

1. Define a model of your system (Lecture 2+4)

2. Define your perturbation signal based on the expected system dynamics (lecture 8)
3. Perform the experiment: apply the perturbation and record the response
4. Analyze the input and output signals in the frequency/time domain (Lecture 3)
5. Perform open-loop (lecture 5+6) or closed-loop (lecture 7) system identification to get
a non-parametric model description (IRF or FRF)
6. Derive a parametric model and fit this model on the non-parametric model through
optimization.

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RECIPE FOR SYSTEM IDENTIFICATION APPLIED TO
INVESTIGATE REFLEXES IN THE WRIST

Input Output

System

• Non-parametric description
• Admittance
• Modeling
• Physiological Parameters

Kearney (1997); De Vlugt (2002); Schouten (2008); Mugge (2010)

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APPLICATIONS SYSTEM IDENTIFICATION

§ Basis science, developing and testing new theories of (human) physiology

§ Improving diagnostic/monitoring of neurological disorders
§ Designing man-machine interfaces
§ Model based control of (medical) robots

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BASIS SCIENCE, DEVELOPING AND TESTING NEW
THEORIES OF (HUMAN) PHYSIOLOGY

Sohrab et al, J. Applied Physiology 1980

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DIAGNOSTIC/MONITORING NEUROLOGICAL
PATIENTS

§ Increased joint stiffness is a common problem in neurological diseases (stroke,

cerebral palsy)
§ Increased stiffness can be caused by
§ Hyperactive reflexes – spasticity
§ Increased stiffness of muscles and connective tissue

§ Correct treatments depends on origin

§ Botulinum toxin injections distort signal transmission at motor end plate reduce
hyperactive reflexes

§ However, the clinical eye can see that something is wrong, but identification of
the underlying causes is required for an appropriate diagnosis and treatment
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REFLEX LOOP

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INVESTIGATE REFLEXES IN THE ANKLE

Sloot LH et al. The validity and reliability of modelled neural and

tissue properties of the ankle muscles in children with cerebral
palsy. Gait Posture 2015
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INTRINSIC/TISSUE STIFFNESS IN CHILDREN WITH
CEREBRAL PALSY HIGHER THAN IN HEALTHY
SUBJECTS

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REFLEX ACTIVITY CHILDREN WITH CEREBRAL
PALSY HIGHER THAN IN HEALTHY SUBJECTS

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LARGE VARIABILITY BETWEEN PATIENTS

Intrinsic
Hyper stiffness
reflex
activity

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MODEL BASED CONTROL OF ROBOTIC: DEVICES:
USING IDENTIFIED ANKLE STIFFNESS IN CONTROL
OF PROSTHETIC ANKLE

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 USING IDENTIFIED ANKLE STIFFNESS IN CONTROL
OF PROSTHETIC ANKLE

-("#$
! "#$ = −'"#$ ("#$ − ("#$,*+ − ,"#$
-.
("#$ , is the prosthetic ankle angle

! "#$ = desired ankle torque

'"#$ = ”stiffness” of prosthetic ankle

What should this kank be?

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APPLY PERTURBATIONS DURING WALKING

Rouse EJ, et al. Estimation of Human Ankle Impedance During the Stance
Phase of Walking. IEEE Trans Neural Syst Rehabil Eng 22: 870–878, 2014.
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 IDENTIFY THE ANKLE STIFFNESS DURING WALKING

!"#$ = 1.3) "#$ + 1.6

Rouse EJ, et al. Estimation of Human Ankle Impedance During the Stance
Phase of Walking. IEEE Trans Neural Syst Rehabil Eng 22: 870–878, 2014.
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COURSE CONTENT

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LEARNING LINE

Q3 Q4
• Biomechanics of Human • Biomechatronics
movement • Identification of human
• Human Movement Control movement control

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 GOALS
Student is able to:
§ able to translate human (patho)physiological control systems (muscle reflexes,
controlling respiratory rate) into technical control system;
§ able to design an optimal perturbation signal to identify unknown system
dynamics;
§ able to identify a nonparametric model of the physiological system from recorded
signals;
§ able to estimate parameters for a physical model describing the nonparametric
model.

This course is focused on system analysis. Focus is on human physiological systems,

in particular the neuromuscular system.

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3 PARTS

1. Signal analysis and linear models (lecture 2-4 + assignment 1)

2. Open and closed- loop system identification using IRF and FRF (lecture 5-8 +
assignment 2)
3. Optimisation and parameter estimation (lecture 9-10+assignment 3)

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COURSE MATERIAL

Books (available as e-book via UT library)

§ Identification of nonlinear physiological systems, Westwick and Kearney,
§ System Identification: A Frequency Domain Approach (2nd edition), Pintelon and
Schoukens,
Canvas – Course materials
§ Study material: some articles
§ Lectures: lecture slides

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 EXTRA MATERIAL

§ Background/Prior knowledge
§ Dynamical systems and control
§ Bernstein DS. A student's guide to classical control. IEEE Control Systems
17: 96–100, 1997
§ Short video lectures on various topics regarding dynamic systems and control
§ Matlab skills
§ Matlab Onramp (tutorials from Mathworks)
§ Tutorial from TU Delft (preparation for their sys ID course)

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OVERVIEW HMC: SCHEDULE
§ Contact Hours
§ Tuesday various hours – Lecture/tutorial/digital exam/Q&A
§ Wednesday: 1st and 3rd hour –Lecture
§ Friday: 3rd and 4th hour – Tutorial
§ SEE ACTIVITY OVERVIEW for more details
§ Roosters.utwente.nl for room

§ Period: April – End June

§ 1 Introduction lecture + 9 lectures + 1 guest lecture
§ 3 hand-in group assignments (3 Matlab assignments)
§ 9 Tutorials (assistance in troubleshooting)
§ 1 application group assignment with a group.

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PREPARE FOR THE LECTURES – READ THE
MATERIAL
§ Why:
§ coming prepared to the lecture so the lecture can be used to gain a better
understanding of the material.
§ Use of peer instruction during lecture

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LECTURES

§ Alternating:
§ Short discussion of course material
§ Interaction
§ Peer Instruction
§ Answer a (concept)question about the course material
§ Discuss answers with your fellow students: convince them of the
correctness of your answer
§ Decide whether you want to change your answer
§ Short explanation from the instructor

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LET’S TRY IT

1. Go to https://b.socrative.com/login/student/ or download Socrative student App

1. Login using room number: IHPS

2. Wait for answer options to show up

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 ASSIGNMENTS
§ 4 Assignment:
§ 3 Matlab assignment: signal analysis, system identifcation, parameter estimation
§ 1 group assignment on application of system identification techniques.
§ Crucial part of this course: apply techniques using Matlab
§ Matlab assignments
§ Groups of 2 persons (self enrol groups)
§ Deadlines of assignments are strict deadlines
§ If assignment is not completed, hand in what you have

§ Every Matlab assignment will be followed by a digital exam.

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USING ANS

§ Assignment
§ Answers to questions, showing figures, interpretation of results
§ This part will be graded

§ Code
§ Can be used throughout the assignment to check your code
§ Will not be graded

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IMPROVE THE USE OF ANS

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 ASSIGNMENTS TROUBLE SHOUTING
§ Troubleshooting
§ Assistance in tutorials
§ Open office hours
§ Tuesday from 12.30 to 13.30 – Ronald & Michielle in HR Z102

§ Q& A for Assignment 1 and 2 are scheduled

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GRADING

Report Digitial Test Presentation Total

Assignment 1 15% 15% 30%
Assingment 2 15% 15% 30%
Assignment 3 15% 15% 30%
Assignment 4 10% 10%
Total 45% 45% 10% 100%

Digital tests scheduled on

• May 7
• June 4
• June 25

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Enjoy this course

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