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- Title
Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques.
- Authors
Latella, Claudia; Traversaro, Silvio; Ferigo, Diego; Tirupachuri, Yeshasvi; Rapetti, Lorenzo; Andrade Chavez, Francisco Javier; Nori, Francesco; Pucci, Daniele
- Abstract
The paper presents a stochastic methodology for the simultaneous floating-base estimation of the human whole-body kinematics and dynamics (i.e., joint torques, internal and external forces). The paper builds upon our former work where a fixed-base formulation had been developed for the human estimation problem. The presented approach is validated by presenting experimental results of a health subject equipped with a wearable motion tracking system and a pair of shoes sensorized with force/torque sensors while performing different motion tasks, e.g., walking on a treadmill. The results show that joint torque estimates obtained by using floating-base and fixed-base approaches match satisfactorily, thus validating the present approach.
- Subjects
HUMAN kinematics; TORQUE; TORQUEMETERS; MOTION; TREADMILLS
- Publication
Sensors (14248220), 2019, Vol 19, Issue 12, p2794
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s19122794