ieee_TES_paper_revised_final.pdf (1008.54 kB)

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

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posted on 2023-08-16, 14:35 authored by Seung Yun SongSeung Yun Song, Yixiang Guo, Chentai Yuan, Nadja MarinNadja Marin, Chenzhang Xiao, Adam Bleakney, Jeannette Elliott, Joao Ramos, Elizabeth Hsiao-WeckslerElizabeth Hsiao-Wecksler

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).

Potential applications of the TES include physical human-robot interaction (pHRI) for navigating riding or remote robots.

The data and data processing code from this study are open source and can be found via the following links:

  • IEEE DataPort with data: 
  • GitHub repository with code: 


National Science Foundation National Robotics Initiative #2024905


Email Address of Submitting Author

ORCID of Submitting Author


Submitting Author's Institution

The University of Illinois at Urbana-Champaign

Submitting Author's Country

  • United States of America