Estimating Off-Road Ground Contact Forces for a Real Time Motion Simulator

2004 ◽  
Author(s):  
Paul W. Richmond ◽  
Randolph A. Jones ◽  
Daniel C. Creighton ◽  
Richard B. Ahlvin
Keyword(s):  
Real Time ◽  
Contact Forces ◽  
Ground Contact ◽  
Time Motion ◽  
Motion Simulator

scholarly journals Curve Similarity Model for Real-Time Gait Phase Detection Based on Ground Contact Forces

Sensors ◽  
2019 ◽  
Vol 19 (14) ◽  
pp. 3235
Author(s):  
Huacheng Hu ◽  
Jianbin Zheng ◽  
Enqi Zhan ◽  
Lie Yu
Keyword(s):  
Real Time ◽  
Error Rate ◽  
Reference Method ◽  
Contact Forces ◽  
Ground Contact ◽  
Phase Detection ◽  
Gait Patterns ◽  
Similarity Model ◽  
Curve Similarity ◽  
Degree Of Similarity

This paper proposed a new novel method to adaptively detect gait patterns in real time through the ground contact forces (GCFs) measured by load cell. The curve similarity model (CSM) is used to identify the division of off-ground and on-ground statuses, and differentiate gait patterns based on the detection rules. Traditionally, published threshold-based methods detect gait patterns by means of setting a fixed threshold to divide the GCFs into on-ground and off-ground statuses. However, the threshold-based methods in the literature are neither an adaptive nor a real-time approach. In this paper, the curve is composed of a series of continuous or discrete ordered GCF data points, and the CSM is built offline to obtain a training template. Then, the testing curve is compared with the training template to figure out the degree of similarity. If the computed degree of similarity is less than a given threshold, they are considered to be similar, which would lead to the division of off-ground and on-ground statuses. Finally, gait patterns could be differentiated according to the status division based on the detection rules. In order to test the detection error rate of the proposed method, a method in the literature is introduced as the reference method to obtain comparative results. The experimental results indicated that the proposed method could be used for real-time gait pattern detection, detect the gait patterns adaptively, and obtain a low error rate compared with the reference method.

Adaptive method for real-time gait phase detection based on ground contact forces

2015 ◽  
Vol 41 (1) ◽  
pp. 269-275 ◽  
Author(s):  
Lie Yu ◽  
Jianbin Zheng ◽  
Yang Wang ◽  
Zhengge Song ◽  
Enqi Zhan
Keyword(s):  
Real Time ◽  
Adaptive Method ◽  
Contact Forces ◽  
Ground Contact ◽  
Phase Detection ◽  
Gait Phase

scholarly journals Self-Tuning Threshold Method for Real-Time Gait Phase Detection Based on Ground Contact Forces Using FSRs

Sensors ◽  
2018 ◽  
Vol 18 (2) ◽  
pp. 481 ◽  
Author(s):  
Jing Tang ◽  
Jianbin Zheng ◽  
Yang Wang ◽  
Lie Yu ◽  
Enqi Zhan ◽  
...  
Keyword(s):  
Real Time ◽  
Contact Forces ◽  
Ground Contact ◽  
Phase Detection ◽  
Threshold Method ◽  
Self Tuning ◽  
Gait Phase

A real-time motion planning scheme for collaborative robots using HRI-based cost function

2021 ◽  
Vol 8 (1) ◽  
pp. 42
Author(s):  
Khawaja Fahad Iqbal ◽  
Akira Kanazawa ◽  
Silvia Romana Ottaviani ◽  
Jun Kinugawa ◽  
Kazuhiro Kosuge
Keyword(s):  
Motion Planning ◽  
Cost Function ◽  
Real Time ◽  
Collaborative Robots ◽  
Time Motion ◽  
Planning Scheme

Real-time motion tracking in image-guided oral implantology

2008 ◽  
Vol 4 (4) ◽  
pp. 339-347 ◽  
Author(s):  
Xiaojun Chen ◽  
Yanping Lin ◽  
Yiqun Wu ◽  
Chengtao Wang
Keyword(s):  
Real Time ◽  
Motion Tracking ◽  
Image Guided ◽  
Time Motion ◽  
Oral Implantology
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