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Sensors 2016, 16(5), 727;

Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing

iCub Facility Department at Istituto Italiano di Tecnologia, Via Morego 30, Genova, Italy
This paper is an extended version of our paper published in SciforumElectronic Conference Series, Proceedings of the 2nd International Electronic Conference on Sensors and Applications, 15–30 November 2015; Volume 2, S4004; doi:10.3390/ecsa-2-S4004.
Author to whom correspondence should be addressed.
Academic Editor: Stefano Mariani
Received: 31 March 2016 / Revised: 7 May 2016 / Accepted: 13 May 2016 / Published: 20 May 2016
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Human motion tracking is a powerful tool used in a large range of applications that require human movement analysis. Although it is a well-established technique, its main limitation is the lack of estimation of real-time kinetics information such as forces and torques during the motion capture. In this paper, we present a novel approach for a human soft wearable force tracking for the simultaneous estimation of whole-body forces along with the motion. The early stage of our framework encompasses traditional passive marker based methods, inertial and contact force sensor modalities and harnesses a probabilistic computational technique for estimating dynamic quantities, originally proposed in the domain of humanoid robot control. We present experimental analysis on subjects performing a two degrees-of-freedom bowing task, and we estimate the motion and kinetics quantities. The results demonstrate the validity of the proposed method. We discuss the possible use of this technique in the design of a novel soft wearable force tracking device and its potential applications. View Full-Text
Keywords: whole-body force tracking; human wearable dynamics; human inverse dynamics whole-body force tracking; human wearable dynamics; human inverse dynamics

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Latella, C.; Kuppuswamy, N.; Romano, F.; Traversaro, S.; Nori, F. Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing. Sensors 2016, 16, 727.

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