Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques

Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques

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 estimat...

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Bibliographic Details
Main Authors: Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci
Format: Article
Language:English
Published: MDPI AG 2019-06-01
Series:Sensors
Subjects:
floating-base dynamics estimation
human joint torque analysis
human wearable dynamics
Online Access:https://www.mdpi.com/1424-8220/19/12/2794

Internet

https://www.mdpi.com/1424-8220/19/12/2794

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