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Center of Pressure Measurement Sensing System for Dynamic Biomechanical Signal Acquisition and Its Self-Calibration
Ni Li1, Jianrui Zhang1, Keer Zhang1
1College of Intelligent Manufacturing, Long Dong University, Qingyang 745000, China.
Sensors (Basel, Switzerland)
|February 13, 2026
Summary
This study introduces a foot-mounted system and self-calibration for accurate Center of Pressure (CoP) measurement in dynamic bipedal robots. The method improves real-time locomotion control and state estimation using adaptive sensor parameters.
Area of Science:
- Robotics
- Biomechanics
- Sensor Technology
Background:
- Dynamic bipedal robots require real-time sensing for locomotion control.
- Center of Pressure (CoP) is crucial for gait analysis and assistive devices.
- Existing methods struggle with reliable CoP acquisition during dynamic walking.
Purpose of the Study:
- To present a foot-mounted measurement system for dynamic CoP acquisition.
- To introduce an online self-calibration method adapting sensor parameters during locomotion.
- To enable reliable CoP and vertical ground reaction force (vGRF) estimation in robots.
Main Methods:
- Developed a foot-mounted sensor system integrated with robot proprioception.
- Implemented an online self-calibration pipeline using sliding window optimization.
- Tested the system on a NAO-V5 robot platform during walking experiments.
Main Results:
- Achieved improved within-trial consistency for CoP measurements compared to offline calibration.
- Demonstrated adaptation of sensor scale and bias parameters during locomotion.
- Reconstructed digitized vertical ground reaction force (vGRF) estimates.
Conclusions:
- The proposed sensing-and-calibration pipeline offers a practical solution for dynamic CoP acquisition.
- The system utilizes low-cost hardware for enhanced robotic locomotion control.
- Online self-calibration improves the reliability of CoP estimation in dynamic scenarios.
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