Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques
Keyword(s):
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.
2019 ◽
Vol 39
(2-3)
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pp. 163-182
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2017 ◽
Vol 14
(5)
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pp. 172988141773275
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2018 ◽
pp. 210-215
Keyword(s):
2016 ◽
Vol 54
(11)
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pp. 1631-1640
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Keyword(s):
2013 ◽
Vol 694-697
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pp. 927-935
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