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

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Article number2794
JournalSensors (Switzerland)
Issue number12
Publication statusPublished - 21 Jun 2019


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


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