Name
Abstract | ||
|---|---|---|
The spring-like behavior is an inherent condition for human walking and running. Since leg stiffness k(leg) is a parameter that cannot be directly measured, many techniques has been proposed in order to estimate it, most of them using force data. This paper intends to address this problem using an Extended Kalman Filter (EKF) based on the Spring-Loaded Inverted Pendulum (SLIP) model. The formulation of the filter only uses as measurement information the Center of Mass (CoM) position and velocity, no a priori information about the stiffness value is known. From simulation results, it is shown that the EKF-based approach can generate a reliable stiffness estimation for walking. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/EMBC.2013.6611225 | EMBC |
Keywords | Field | DocType |
center of mass position,extended kalman filter,kalman filters,parameter estimation,walking,leg stiffness estimation,center of mass velocity,gait analysis,spring-loaded inverted pendulum model,nonlinear filters,mathematical model,estimation,simulation,biomechanics | Inverted pendulum,Extended Kalman filter,Alpha beta filter,Computer science,Stiffness,Control theory,A priori and a posteriori,Kalman filter,Estimation theory,Invariant extended Kalman filter | Conference |
Volume | ISSN | Citations |
2013 | 1557-170X | 0 |
PageRank | References | Authors |
0.34 | 2 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Claudia Ochoa-Diaz | 1 | 0 | 0.34 |
| Henrique Marra Menegaz | 2 | 23 | 2.20 |
| A. P. L. Bó | 3 | 117 | 13.14 |
| Geovany Araujo Borges | 4 | 154 | 12.82 |