A Framework for Biodynamic Feedthrough Analysis-Part I: Theoretical Foundations

作者：Venrooij Joost^*; van Paassen Marinus M; Mulder Mark; Abbink David A; Mulder Max; van der Helm Frans C T; Buelthoff Heinrich H

来源：IEEE Transactions on Cybernetics, 2014, 44(9): 1686-1698.

DOI：10.1109/TCYB.2014.2311043

• BDFT to forces
• BDFT to positions
• biodynamic feedthrough
• control device feedthrough
• force disturbance feedthrough
• neuromuscular admittance

Biodynamic feedthrough (BDFT) is a complex phenomenon, which has been studied for several decades. However, there is little consensus on how to approach the BDFT problem in terms of definitions, nomenclature, and mathematical descriptions. In this paper, a framework for biodynamic feedthrough analysis is presented. The goal of this framework is two-fold. First, it provides some common ground between the seemingly large range of different approaches existing in the BDFT literature. Second, the framework itself allows for gaining new insights into BDFT phenomena. It will be shown how relevant signals can be obtained from measurement, how different BDFT dynamics can be derived from them, and how these different dynamics are related. Using the framework, BDFT can be dissected into several dynamical relationships, each relevant in understanding BDFT phenomena in more detail. The presentation of the BDFT framework is divided into two parts. This paper, Part I, addresses the theoretical foundations of the framework. Part II, which is also published in this issue, addresses the validation of the framework. The work is presented in two separate papers to allow for a detailed discussion of both the framework%26apos;s theoretical background and its validation.

• 出版日期2014-9