Journal of Robotics / 2010 / Article / Fig 1

Research Article

Estimating Ground Inclination Using Strain Sensors with Fourier Series Representation

Figure 1

(a) Strain measurement setup. One strain gauge sensor S1   is attached partly on the inside at the back and one S2   partly on the inside at the front. Sensors S3 and S4 are attached at the corresponding positions but on the outside. (b) Measured ankle angle α (stars) and force F (squares) relation to AFO strain sensor output. Estimated linear relations: solid (α) and dashed (F).

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