Ground Contact Force and Moment Estimation for Human–Exoskeleton Systems Using Dynamic Decoupled Coordinate System and Minimum Energy Hypothesis
Estimating the contact forces and moments (CFMs) between exoskeletons’ feet and the ground is a prerequisite for calculating exoskeletons’ joint moments. However, comfortable, portable, and high-precision force sensors for CFM detection are difficult to design and manufacture. In addition, there are...
| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-11-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/8/8/558 |