ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-06232016-114511


Tipo di tesi
Tesi di laurea magistrale
Autore
GRANDE, LAURA
URN
etd-06232016-114511
Titolo
Experimental evaluation of pressure-sensitive foot insoles in the field of wearable robotics
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA BIOMEDICA
Relatori
relatore Prof.ssa Laschi, Cecilia
correlatore Vitiello, Nicola
correlatore Vallery, Heike
Parole chiave
  • Wearable robotics
  • pressure-sensitive foot insoles
  • observer design.
  • human model
Data inizio appello
15/07/2016
Consultabilità
Completa
Riassunto
The aim of this project is the experimental evaluation of pressure-sensitive foot insoles in the field of wearable robotics. This device is based on a novel pressure sensitive foot insole for real-time monitoring of plantar pressure distribution during walking. I evaluated the performance of these foot insoles in the context of fall detection for wearable exoskeletons.
In this study kinematic measurements on the upper body were provided by means of an IMU attached at the back above the waist and on the lower body pressure sensitive insoles, to improve the accuracy of project estimates. Following a model-driven approach, I suggest to use an observer, based on a dynamic model, together with a sequence of kinematic measurements.
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