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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)
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)
Many stroke patients suffer from the drop foot syndrome, which is characterized by a limited ability to lift (the lateral and/or medial edge of) the foot and leads to a pathological gait. In this contribution, we consider the treatment of this syndrome via functional electrical stimulation (FES) of the peroneal nerve during the swing phase of the paretic(More)