An algorithm of walk phase estimation with only treadmill motor current - Ohki, E.; Nakashima, Y.; Ando, T.; Fujie, M.G. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009)
Keywords: DC motors; Foot; Force measurement; Intelligent robots; Leg; Legged locomotion; Phase estimation; Phase measurement; Rehabilitation robotics; Switches