Real-time Implementation and Evaluation of Magnetometerless Tracking System for Human and Humanoid Posture Control Benchmarking based on Inertial Sensors

Vittorio Lippi, Kai Brands, Thomas Seel

Abstract

This work describes a tracking system designed for humanoid robots, exoskeletons and humans oriented to posture control and balance experiments. The system aims to provide a tool that allows for repeatability of balance experiments across different robotics platforms and control algorithms with the ultimate aim of providing a standardized framework for performance benchmarking. To make the system suitable for different geometries and materials, it relies just on inertial sensors. The system is evaluated with a marker-based optical tracking, performing a trial of a typical posture control and balance experiment. In particular the frequency response function of the body segments respect to the support surface tilt is evaluated.

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