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Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction*
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  • Seung Yun Song ,
  • Yixiang Guo ,
  • Chentai Yuan ,
  • Nadja Marin ,
  • Chenzhang Xiao ,
  • Adam Bleakney ,
  • Jeannette Elliott ,
  • Joao Ramos ,
  • Elizabeth Hsiao-Wecksler
Seung Yun Song
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Yixiang Guo
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Chentai Yuan
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Nadja Marin
The University of Illinois at Urbana-Champaign, The University of Illinois at Urbana-Champaign, The University of Illinois at Urbana-Champaign

Corresponding Author:[email protected]

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Chenzhang Xiao
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Adam Bleakney
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Jeannette Elliott
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Joao Ramos
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Elizabeth Hsiao-Wecksler
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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: https://ieee-dataport.org/documents/validation-study-torso-dynamics-estimation-system-tes-hands-free-physical-human-robot
GitHub repository with code: https://github.com/ssong47/TorsodynamicsEstimationSystem