5 papers
Estimating Lower Body Kinematics using a Lie Group Constrained Extended Kalman Filter and Reduced IMU Count
Luke Wicent Sy, Nigel H. Lovell, Stephen J. Redmond
Goal: This paper presents an algorithm for estimating pelvis, thigh, shank, and foot kinematics during walking using only two or three wearable inertial sensors. Methods: The algor…
A Biomimetic Tactile Fingerprint Induces Incipient Slip
Jasper W. James, Stephen J. Redmond, Nathan F. Lepora
We present a modified TacTip biomimetic optical tactile sensor design which demonstrates the ability to induce and detect incipient slip, as confirmed by recording the movement of…
Estimating Lower Limb Kinematics using Distance Measurements with a Reduced Wearable Inertial Sensor Count
Luke Sy, Nigel H. Lovell, Stephen J. Redmond
This paper presents an algorithm that makes novel use of distance measurements alongside a constrained Kalman filter to accurately estimate pelvis, thigh, and shank kinematics for…
Estimating Lower Limb Kinematics using a Lie Group Constrained EKF and a Reduced Wearable IMU Count
Luke Sy, Nigel H. Lovell, Stephen J. Redmond
This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately…
Estimating Lower Limb Kinematics using a Reduced Wearable Sensor Count
Luke Sy, Michael Raitor, Michael Del Rosario +4
Goal: This paper presents an algorithm for accurately estimating pelvis, thigh, and shank kinematics during walking using only three wearable inertial sensors. Methods: The algorit…