Journal of Robotics / 2010 / Article / Fig 3

Research Article

Estimating Ground Inclination Using Strain Sensors with Fourier Series Representation

Figure 3

(a) Reference ankle angle βr and actual angle β of an unloaded AFO give a control error e in inclinations. Below: Ankle position of a biological foot during mid-stance while using compensating keels with resulting control error e. (b) The keel angle δ is chosen so that e=0 and (c) is the error shown as the angle between the actual orthosis and the vertical “desired” direction (dotted).
465618.fig.003a
(a)
465618.fig.003b
(b)
465618.fig.003c
(c)

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