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This contribution is concerned with joint angle calculation based on inertial measurement data in the context of human motion analysis. Unlike most robotic devices, the human body lacks even surfaces and right angles. Therefore, we focus on methods that avoid assuming certain orientations in which the sensors are mounted with respect to the body segments.(More)
We consider 6d inertial measurement units (IMU) attached to rigid bodies, e.g. human limb segments or links of a robotic manipulator, which are connected by hinge joints and spheroidal joints. Novel methods for joint axis estimation and joint position estimation are presented that exploit the kinematic constraints induced by these two types of joints. The(More)
— We propose a consensus-based distributed voltage control (DVC), which solves the problem of reactive power sharing in autonomous meshed inverter-based microgrids with inductive power lines. Opposed to other control strategies available thus far, the DVC does guarantee reactive power sharing in steady-state while only requiring distributed communication(More)
— This contribution is concerned with the design and control of a novel drop foot stimulator. Unlike almost all other drop foot stimulators, the present device uses a combination of gyroscopes and accelerometers attached to the foot, and optionally to the shank. On the one hand, the inertial sensor on the foot is used for a detailed gait phase detection(More)
The limited ability to dorsiflex the foot, known as drop foot, can be treated by functional electrical stimulation. Therein, undesired foot eversion/inversion is a common problem which is usually corrected by tedious manual repositioning of the electrodes. We address this issue by presenting a feedback-control solution featuring three major contributions:(More)
Functional Electrical Stimulation via electrode arrays enables the user to form virtual electrodes (VEs) of dynamic shape, size, and position. We developed a feedback-control-assisted manual search strategy which allows the therapist to conveniently and continuously modify VEs to find a good stimulation area. This works for applications in which the desired(More)
Zusammenfassung Mit funktioneller Elektrostimulation kann die Dorsalflexion des Fußes in der Schwungphase des Ganges unterstützt und dadurch eine Fußheberschwäche kompensiert werden. Um eine möglichst natürliche Fußwinkeltrajektorie zu generieren, wird eine iterativ lernende Regelung eingesetzt. Dieser Artikel betrachtet die Abhängigkeit eines verfrühten(More)
Due to their relative ease of handling and low cost, inertial measurement unit (IMU)-based joint angle measurements are used for a widespread range of applications. These include sports performance, gait analysis, and rehabilitation (e.g., Parkinson's disease monitoring or poststroke assessment). However, a major downside of current algorithms,(More)