A novel wireless instrumented shoe for ground reaction forces analysis in humanoids

The measurement of ground reaction forces (GRFs) is crucial in the biomechanical analysis of gait and other motor activities. Current humanoid robots mimic some of the biological adaptation methods found in humans. Therefore, studying the GRFs in these robots allows not only to improve their overall...

Full description

Saved in:
Bibliographic Details
Published in2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) pp. 36 - 41
Main Authors Almeida, Luis, Santos, Vitor, Silva, Filipe
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2018
Subjects
Foot
Footwear
Force
Force sensors
Ground reaction forces
Humanoid robot
Instrumented shoe
Legged locomotion
Robot sensing systems
Online AccessGet full text
DOI10.1109/ICARSC.2018.8374157

Cover

More Information
Summary:The measurement of ground reaction forces (GRFs) is crucial in the biomechanical analysis of gait and other motor activities. Current humanoid robots mimic some of the biological adaptation methods found in humans. Therefore, studying the GRFs in these robots allows not only to improve their overall performance, but also to extrapolate possible techniques for human walking rehabilitation. The balance of a humanoid robot may be compromised when it walks and, even more, when it walks across multiple grounds with different frictions. This paper presents a system to be seamlessly installed on a walking humanoid robot to measure normal and tangential ground reaction forces. The proposed solution is a cost-effective, lightweight and wirelessly instrumented shoe (ITshoe) for real-time measuring of the GRFs.
DOI:10.1109/ICARSC.2018.8374157