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Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques
Claudia Latella1, Silvio Traversaro2, Diego Ferigo3,4
1Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy. claudia.latella@iit.it.
Sensors (Basel, Switzerland)
|June 26, 2019
Summary
This study introduces a new stochastic method for estimating human body movement and forces, building on prior fixed-base work. Experimental validation confirms the accuracy of this advanced floating-base approach for motion analysis.
Area of Science:
- Biomechanics
- Robotics
- Human Motion Analysis
Background:
- Previous research developed a fixed-base formulation for human estimation.
- Accurate estimation of human kinematics and dynamics is crucial for various applications.
Purpose of the Study:
- To present a stochastic methodology for simultaneous floating-base estimation of human whole-body kinematics and dynamics.
- To extend previous fixed-base formulations to a more comprehensive floating-base approach.
Main Methods:
- Developed a stochastic methodology for floating-base estimation.
- Utilized a wearable motion tracking system and force/torque sensors in shoes.
- Collected experimental data from a healthy subject performing motion tasks like treadmill walking.
Main Results:
- The floating-base approach successfully estimated joint torques, internal forces, and external forces.
- Comparison with fixed-base estimates showed satisfactory agreement.
- Experimental validation confirmed the efficacy of the presented methodology.
Conclusions:
- The stochastic floating-base methodology provides accurate estimation of human whole-body kinematics and dynamics.
- This approach enhances previous fixed-base methods for human motion analysis.
- The validated method has potential applications in biomechanics and human-robot interaction.
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