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The paper presents the design and validation of a three-segment human body model. The model is aimed at the reconstruction of motion trajectories of the shank, thigh and HAT (Head-Arms-Trunk) segments in sit-to-stand-motion using low cost inertial sensors. For this purpose the Extended Kalman filter is applied for fusion of model data and data acquired(More)
The scope of this paper is the presentation of experiments which involve measurements and identification of human movements by using the inertial sensors. We describe the purpose, design and obtained results of two experiments, as well as our future plans which include the exploration of the forces acting at spine segments by measurements with inertial(More)
The paper describes design and features of novel semi-autonomous floor scrubber add-on module, used for cleaning large indoor and outdoor tile/marbles spaces found in modern (smart) cities. Module is designed in such a manner that it can be easily added to and removed from scrubber machine and that additional sensors and capabilities can be introduced(More)
In the paper a method for measuring kinematics of sit-to-stand motion using inertial sensors and human body model is presented. The proposed method fuses data from inertial sensors and data from three-segment human body model using Extended Kalman filtering technique and in this way alleviates some of the drawbacks associated with inertial sensors. Dynamic(More)
While uncalibrated image based visual servoing is traditionally used in robotics, in the paper we propose its application on the problem of automatic control of balancing beam with two thrusters, one at each end. Classical approach to the problem is application of PID regulator or LQR (linear quadratic regulator). Our proposal has several important(More)