Paper Info
Title
Estimation method of operating force using an extended Kalman filter based on ground reaction force and human behavior
Abstract
Aiming to assist operators, our laboratory had proposed power assisted wire suspension system. A system to estimate the operating force based on ground reaction force and human behavior has been developed. However, it is necessary to measure the human behavior (position, velocity, and acceleration) of 17 points on the body with the conventional human dynamics model. Therefore, the system is extremely expensive and not practical, because of large number of sensors. In addition, fewer sensor units worsen the estimation accuracy of the operating force. In order to improve the estimation accuracy of the operating force, it is important to identify positions of center-of-gravity and masses of links. Thus, this paper presents the novel human dynamics model estimating the operating force and parameters using extended Kalman filter based on human behavior with only 6 sensor units and ground reaction force. Improvement of the estimation accuracy is confirmed by experiments.
Year
DOI
Venue
2014
10.1109/MHS.2014.7006071
Micro-NanoMechatronics and Human Science
Keywords
Field
DocType
Kalman filters,estimation theory,human factors,nonlinear filters,acceleration,center-of-gravity,estimation accuracy,extended Kalman filter,ground reaction force,human behavior,human dynamics model,link masses,operating force,position,power assisted wire suspension system,sensor units,velocity
Suspension (vehicle),Extended Kalman filter,Control theory,Human dynamics,Control engineering,Moving horizon estimation,Ground reaction force,Acceleration,Operator (computer programming),Materials science
Conference
ISSN
Citations 
PageRank 
2474-378X
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Taishi Noro100.34
Yusuke Katsuda200.34
Takanori Miyoshi35220.65
Kazuhiko Terashima410033.03