Simultaneous floating-base estimation of human kinematics and joint torques

Claudia Latella; Silvio Traversaro; Diego Ferigo; Yeshasvi Tirupachuri; Lorenzo Rapetti; Franciscojavier Andradechavez; Francesco Nori; Daniele Pucci

doi:10.3390/s19122794

Simultaneous floating-base estimation of human kinematics and joint torques

Claudia Latella^*, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Franciscojavier Andradechavez, Francesco Nori, Daniele Pucci

^*Corresponding author for this work

Department of Computer Science

Research output: Contribution to journal › Article › peer-review

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.

Original language	English
Article number	2794
Journal	Sensors (Switzerland)
Volume	19
Issue number	12
DOIs	https://doi.org/10.3390/s19122794
Publication status	Published - 21 Jun 2019

Keywords

Floating-base dynamics estimation
Human joint torque analysis
Human wearable dynamics

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10.3390/s19122794

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title = "Simultaneous floating-base estimation of human kinematics and joint torques",

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.",

keywords = "Floating-base dynamics estimation, Human joint torque analysis, Human wearable dynamics",

author = "Claudia Latella and Silvio Traversaro and Diego Ferigo and Yeshasvi Tirupachuri and Lorenzo Rapetti and Franciscojavier Andradechavez and Francesco Nori and Daniele Pucci",

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AU - Latella, Claudia

AU - Traversaro, Silvio

AU - Ferigo, Diego

AU - Tirupachuri, Yeshasvi

AU - Rapetti, Lorenzo

AU - Andradechavez, Franciscojavier

AU - Nori, Francesco

AU - Pucci, Daniele

PY - 2019/6/21

Y1 - 2019/6/21

N2 - 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.

AB - 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.

KW - Floating-base dynamics estimation

KW - Human joint torque analysis

KW - Human wearable dynamics

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DO - 10.3390/s19122794

M3 - Article

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JO - Sensors (Switzerland)

JF - Sensors (Switzerland)

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ER -

Simultaneous floating-base estimation of human kinematics and joint torques

Abstract

Keywords

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