Design of Omnidirectional Mobile Platform for Balance Analysis

Ma, J.; Kharboutly, Haissam; Benali, Abderraouf; Amar, Faïz Ben; Bouzit, Mourad

doi:10.1109/tmech.2014.2309484

Cited by 18 publications

(4 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The angle proportion, angle velocity proportion and angle acceleration proportion of knee to ankle are under regular feedback during walking. The linear regression slopes of proportion disturbances including noise [36]. As shown in Fig.…”

Section: Effect On Slopes Of Linear Regression Knee/anklementioning

confidence: 99%

Slow walking model for children with multiple disabilities via an application of humanoid robot

Wang

Peyrodie

Cao

et al. 2016

Mechanical Systems and Signal Processing

View full text Add to dashboard Cite

Section: Effect On Slopes Of Linear Regression Knee/anklementioning

confidence: 99%

Slow walking model for children with multiple disabilities via an application of humanoid robot

Wang

Peyrodie

Cao

et al. 2016

Mechanical Systems and Signal Processing

View full text Add to dashboard Cite

“…The projectile prototype was designed as a fully autonomous system, which is a common approach in the field of mobile robotics (e.g. terrestrial robots [14], surface vehicles [15] or aerial robots [16]), where it may be complex to offload computation on a separate computer. Indeed, physical tethers may be impractical or unfeasible and wireless links introduce latency, which has negative impact on control loop performance and stability.…”

Section: A Projectile Hardware Descriptionmentioning

confidence: 99%

Pitch-Axis Identification for a Guided Projectile Using a Wind-Tunnel-Based Experimental Setup

Strub

Dobre

Gassmann

et al. 2016

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

This article details the identification of a pitch axis model for an 80mm fin-stabilized, canard-guided projectile through a Hardware-in-the-Loop experimental setup. This setup is based on an autonomous functional projectile prototype installed in a subsonic wind tunnel by the means of a 3 Degrees of Freedom (DoF) gimbal mount. A nonlinear dynamical model is first derived from flight mechanics principles, then a linearized model is obtained through Taylor series expansion. The a priori and a posteriori identifiability of the proposed linear model are assessed and the associated experimental input signals are accordingly designed. The model parameters are then estimated using a numerical optimization procedure and the associated uncertainty is obtained through a boostrapping method. The results and their implication on the projectile flight control design are finally discussed.

show abstract

“…The dynamic perturbation platform, named IsiSkate (ASSISTMOV SAS, Paris, France), is an omnidirectional mobile robot. The new platform is specifically designed for balance analysis (Ma et al, 2014). It is able to create different types of perturbations (translations, rotations) by controlling various acceleration and speed profiles.…”

Section: A Articulated Arm and Mobile Platformmentioning

confidence: 99%

Joint angle estimation with accelerometers for dynamic postural analysis

Kharboutly

Benali

et al. 2015

Journal of Biomechanics

Self Cite

View full text Add to dashboard Cite

This paper presents a new accelerometer based method for estimating the posture of a subject standing on a dynamic perturbation platform. The induced perturbation is used to study the control mechanisms as well as the balance requirements that regulate the upright standing. These perturbations are translated into different intensity levels of speed and acceleration along longitudinal and lateral directions of motion. In our method, the human posture is modeled by a tridimensional, three-segment inverted pendulum which simultaneously takes into account both the anterior-posterior and medio-lateral strategies of hip and ankle. Four tri-axial accelerometers are used her, one accelerometer is placed on the platform, and the other three are attached to a human subject. Based on the results, the joint angle estimated compare closely to measurements from magnetic encoders placed on an articulated arm joint. The results were also comparable to those found when using a high-end optical motion capture system coupled with advanced biomechanical simulation software. This paper presents the comparisons of our accelerometer-based method with encoder and optical marker based method of the estimated joint angles under different dynamics perturbations.

show abstract

Design of Omnidirectional Mobile Platform for Balance Analysis

Cited by 18 publications

References 24 publications

Slow walking model for children with multiple disabilities via an application of humanoid robot

Slow walking model for children with multiple disabilities via an application of humanoid robot

Pitch-Axis Identification for a Guided Projectile Using a Wind-Tunnel-Based Experimental Setup

Joint angle estimation with accelerometers for dynamic postural analysis

Contact Info

Product

Resources

About