ETD

• human model
• observer design.
• pressure-sensitive foot insoles
• Wearable robotics

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.