Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction*

Abstract

<p>This is a submitted draft of a paper on the design and validation of a Torso-dynamics Estimation System (TES). The TES consisted of a Force Sensing Seat (FSS) and an inertial measurement unit (IMU) that measured the kinetics and kinematics of the subject's torso motions. The FSS estimated the 3D forces, 3D moments, and 2D COPs while the IMU estimated the 3D torso angles. To validate the TES, the FSS and IMU estimates were compared to gold standard research equipment (AMTI force plate and Qualisys motion capture system, respectively).</p> <p>Potential applications of the TES include physical human-robot interaction (pHRI) for navigating riding or remote robots.</p> <p>The data and data processing code from this study are open source and can be found via the following links:</p> <ul> <li>IEEE DataPort with data: https://ieee-dataport.org/documents/validation-study-torso-dynamics-estimation-system-tes-hands-free-physical-human-robot </li> <li>GitHub repository with code: https://github.com/ssong47/TorsodynamicsEstimationSystem </li> </ul> <p><br></p>

Hands-Free Physical Human-Robot Interaction and Testing for Navigating a Virtual Ballbot

“…Therefore, the signals quantifying torso mechanics were used as reference signals to the ballbot's controller. Thus, a custom sensor system (i.e., Torsodynamics Estimation System (TES)), consisting of a Force Sensing Seat (FSS) and an inertial measurement unit (IMU) was used to measure the dynamics of the rider's torso motions (Figure 1, 2) [12].…”

“…The FSS estimated the 2D center of pressures (COPs) of the seated user, such that 𝐶𝑂𝑃 , 𝐶𝑂𝑃 were the COP along anterior/posterior and lateral/medial directions, respectively (Figure 2 (a)). The seat dimensions (i.e., depth, width, and dump angle) were adjusted for each subject's physique and preference [12]. mWCUs were given the option to use their personal seat cushion and foot straps for comfort and stability.…”