0000000001285380

AUTHOR

Elisa Cucco

showing 4 related works from this author

Use of accelerometers and gyros for hip and knee angle estimation

2013

In this paper a wearable sensor system, consisting of accelerometers and gyros, has been studied to estimate hip and knee angles. The proposed algorithm, developed in order to avoid the error accumulation due to gyroscopes drift, has been tested on angle measurement of the hip and knee of a commercial device for assisted gait. The results have shown a good accuracy of the angles estimation, also in high angle rate movement

musculoskeletal diseasesSensor systemEngineeringbusiness.industryAcousticsComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISIONKnee angleWearable computerGyroscopeAccelerometerlaw.inventionAccelerometers Gyroscopes Estimation Knee Joints Hip SensorsGait (human)Settore ING-INF/04 - AutomaticalawGait analysisElectronic engineeringHigh anglebusinesshuman activitiesComputingMethodologies_COMPUTERGRAPHICS2013 IEEE International Conference on Mechatronics and Automation
researchProduct

Contact Estimation in Robot Interaction

2014

In the paper, safety issues are examined in a scenario in which a robot manipulator and a human perform the same task in the same workspace. During the task execution, the human should be able to physically interact with the robot, and in this case an estimation algorithm for both interaction forces and a contact point is proposed in order to guarantee safety conditions. The method, starting from residual joint torque estimation, allows both direct and adaptive computation of the contact point and force, based on a principle of equivalence of the contact forces. At the same time, all the unintended contacts must be avoided, and a suitable post-collision strategy is considered to move the r…

Computer sciencelcsh:ElectronicsRobot manipulatorlcsh:TK7800-8360WorkspaceCollisionlcsh:QA75.5-76.95Computer Science ApplicationsTask (project management)Contact forceinteraction controlSettore ING-INF/04 - AutomaticaArtificial IntelligencePhisical human robot interactionTorqueRobotPoint (geometry)Collision detectionlcsh:Electronic computers. Computer scienceSoftwareSimulationcontact estimationInternational Journal of Advanced Robotic Systems
researchProduct

The Use of Accelerometers and Gyroscopes to Estimate Hip and Knee Angles on Gait Analysis

2014

In this paper the performance of a sensor system, which has been developed to estimate hip and knee angles and the beginning of the gait phase, have been investigated. The sensor system consists of accelerometers and gyroscopes. A new algorithm was developed in order to avoid the error accumulation due to the gyroscopes drift and vibrations due to the ground contact at the beginning of the stance phase. The proposed algorithm have been tested and compared to some existing algorithms on over-ground walking trials with a commercial device for assisted gait. The results have shown the good accuracy of the angles estimation, also in high angle rate movement.

EngineeringTransducersComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISIONMonitoring AmbulatoryAccelerometerlcsh:Chemical technologySensitivity and SpecificityBiochemistryArticleAnalytical Chemistrylaw.inventionGait (human)gait analysiSettore ING-INF/04 - AutomaticaInertial measurement unitlawAccelerometryHumansHigh anglelcsh:TP1-1185Electrical and Electronic EngineeringGaitInstrumentationSimulationgait analysis; joint angles estimation; inertial sensorsArthrometry ArticularStance phasebusiness.industryReproducibility of ResultsSignal Processing Computer-AssistedGyroscopeEquipment DesignActigraphyinertial sensorsAtomic and Molecular Physics and OpticsEquipment Failure AnalysisVibrationGait analysisgait analysisjoint angles estimationbusinessAlgorithmsSensors
researchProduct

ROBOTIC INTERACTION AND COOPERATION. Industrial and rehabilitative applications

2014

The main goal of the thesis is the development of human-robotic interaction control strategies, which enable close collaboration between human and robot. In this framework we studied two di erent aspects, with applications respectively in industrial and rehabilitation domains. In the rst part safety issues are examined on a scenario in which a robot manipulator and a human perform the same task and in the same workspace. During the task execution the human should be able to get into contact with the robot and in this case an estimation algorithm of both interaction forces and contact point is proposed in order to guarantee safety conditions. At the same time, all the unintended contacts hav…

Settore ING-INF/04 - AutomaticaHuman-Robot Interaction Gait Analysis Cooperative Robotics.
researchProduct