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Estimation of the center of body mass during forward stepping using body acceleration

J Han1, A L Betker, T Szturm

  • 1Dept. of Electr. & Comput. Eng., Manitoba Univ., Winnipeg, Canada. jhan@ee.umanitoba.ca

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
|October 20, 2007
PubMed

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Center of Mass

The center of mass is the point at which the total mass of an object can be said to be concentrated. It is a fundamental principle in mechanics and physics that applies to all objects regardless of their shape or size. The center of gravity is the point at which an object’s weight appears to be concentrated and can be used to balance the object perfectly.
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Consider a coffee mug hanging on a hook in a pantry. If the mug gets knocked, it oscillates back and forth like a pendulum until the oscillations die out.
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Any object that obeys Newton's second law of motion is made up of a large number of infinitesimally small particles. Objects in motion can be as simple as atoms or as complex as gymnasts performing in the Olympics. The motion of such objects is described about a point called the center of mass of the object. The center of mass of an object is a point that acts as if the whole mass is concentrated at that point. The center of mass of an object with a large number of infinitesimally small...
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Finding the Center of Gravity

The center of gravity of a body is an imaginary point where the body's total weight is assumed to be concentrated, and the body is perfectly balanced. The center of the mass of a body is a point at which the whole of the mass of the body appears to be concentrated. If the acceleration due to gravity, g, has the same value at all points on a body, its center of gravity is identical to its center of mass. The center of gravity of homogeneous bodies such as a sphere, cube, or rectangular plate is...
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Variation in Acceleration due to Gravity near the Earth's Surface

An object's apparent weight is its weight measured by a spring balance at its location. It is different from its true weight, the force with which the Earth pulls it, because of the Earth's rotation. Mathematically, an object's apparent weight equals its true weight minus the centripetal force that keeps it in a circular motion along with the Earth's surface every 24 hours.
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The center of mass of an object is defined as the mass-weighted average position of all the particles that comprise the object. The significance of the center of mass of an object can be seen by looking at its dynamics. The time derivative of the center of mass gives its velocity, assuming that the object's mass remains constant over time. Furthermore, the total linear momentum of an object can be seen as the linear momentum of a single particle of the object's total mass moving with the...