Estimation Of Vertical Forces Research Articles

Classification and characterization of postural transitions using instrumented shoes.

The frequency and quality of sit-to-stand and stand-to-sit postural transitions decrease with age and are highly relevant for fall risk assessment. Accurate classification and characterization of these transitions in daily life of older adults are therefore needed. In this study, we propose to use instrumented shoes for postural transition classification as well as transition duration estimation from insole force signals. In the first part, data were collected with 10 older adults and 10 young participants performing transitions in the laboratory while wearing the instrumented shoes, without arm assistance. A wavelet approach was used to transform the insole force data, and candidate events were selected for transition duration estimation. Transition durations were then validated against a model based on force plate reference. Vertical force estimation was also compared to force plate measurement. In the second part, postural transitions were classified in daily life using the instrumented shoes and validated against a highly accurate wearable system. Transition duration was estimated with an error ranging from 10 to 20% while the error for vertical force estimation was 7%. Postural transition classification was achieved with excellent sensitivity and precision exceeding 90%. In conclusion, the instrumented shoes are suitable for classifying and characterizing postural transitions in daily life conditions of healthy older adults. Graphical abstract "Experimental setup showing instrumented shoes, reference force plate, as well as IMUs used for postural transition classification and duration estimation comparison".

Geometric-based tyre vertical force estimation and stiffness parameterisation for automotive and unmanned vehicle applications

ABSTRACTAdvanced empirical, and physical-based tyre models have proven to be accurate for simulating tyre dynamics; however, these tyre models typically require expensive and intensive tyre parameterisation. Recent research into wheeled unmanned ground vehicles requiring vertical force analysis has shown good results using a simple linear spring model for the tyre which demonstrate the continued use for simple tyre models; however, parameterisation of the tyre still remains a challenge when load test equipment is not available. This paper presents a cost-effective tyre vertical stiffness parameterisation procedure using only measured tyre geometry and air pressure for applications where high-fidelity tyre models are unnecessary. Vertical forces calculated through an air volume optimisation approach are used to estimate tyre vertical stiffness. Nine tyres from the literature are compared to evaluate the performance of the vertical force estimation and stiffness parameterisation algorithms. Experimental results on a pair of ATV tyres are also presented.

Mapping Muscles Activation to Force Perception during Unloading.

It has been largely proved that while judging a force humans mainly rely on the motor commands produced to interact with that force (i.e., sense of effort). Despite of a large bulk of previous investigations interested in understanding the contributions of the descending and ascending signals in force perception, very few attempts have been made to link a measure of neural output (i.e., EMG) to the psychophysical performance. Indeed, the amount of correlation between EMG activity and perceptual decisions can be interpreted as an estimate of the contribution of central signals involved in the sensation of force. In this study we investigated this correlation by measuring the muscular activity of eight arm muscles while participants performed a quasi-isometric force detection task. Here we showed a method to quantitatively describe muscular activity (“muscle-metric function”) that was directly comparable to the description of the participants' psychophysical decisions about the stimulus force. We observed that under our experimental conditions, muscle-metric absolute thresholds and the shape of the muscle-metric curves were closely related to those provided by the psychophysics. In fact a global measure of the muscles considered was able to predict approximately 60% of the perceptual decisions total variance. Moreover the inter-subjects differences in psychophysical sensitivity showed high correlation with both participants' muscles sensitivity and participants' joint torques. Overall, our findings gave insights into both the role played by the corticospinal motor commands while performing a force detection task and the influence of the gravitational muscular torque on the estimation of vertical forces.

Identification of vehicle parameters and estimation of vertical forces

The aim of the present work is to estimate the vertical forces and to identify the unknown dynamic parameters of a vehicle using the sliding mode observers approach. The estimation of vertical forces needs a good knowledge of dynamic parameters such as damping coefficient, spring stiffness and unsprung masses, etc.In this paper, suspension stiffness and unsprung masses have been identified by the Least Square Method.Real-time tests have been carried out on an instrumented static vehicle, excited vertically by hydraulic jacks. The vehicle is equipped with different sensors in order to measure its dynamics. The measurements coming from these sensors have been considered as unknown inputs of the system. However, only the roll angle and the suspension deflection measurements have been used in order to perform the observer. Experimental results are presented and discussed to show the quality of the proposed approach.