Abstract
In this paper we present a simple estimation system for ground reaction forces, inter-segmental forces and joint torques in the biped motion. The proposed system bases on classification of walk into two phases, left leg stance - right leg swing, and left leg swing - right leg stance. The system does not need any additional measurements of forces and moments. It uses matrix formulation for inverse dynamics problem of computing moment and torques on the basis of measurements of ve- locities and accelerations. The input signals are filtered with the use of the Savitzky Golay smoothing filter.
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