Hysteresis compensation for ground contact force measurement with shoe-embedded air pressure sensors

Prudhvi Tej Chinimilli, Sean Wolfgang Wachtel, Panagiotis Polygerinos, Wenlong Zhang

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    8 Citations (Scopus)

    Abstract

    This paper reviews the design of smart shoes, a wearable device that measures ground contact forces (GCFs) for gait analysis. Smart shoes utilize four coils of silicone tubes adhered directly underneath the shoe insole at key points of interest. Air pressure sensors connect to each tube coil to measure pressure changes caused by compression. This paper presents static and dynamic calibration performed on each sensing coil to establish a model of internal pressure and the GCF. Based on the model, a phase lead filter is designed to account for the hysteresis effect and visco-elastic properties of the silicone tube in order to provide accurate GCF measurements. To design this filter, the air bladder is modeled using a standard linear solid (SLS) model. The prediction error minimization (PEM) algorithm is then implemented to identify the continuous-time transfer function of this SLS model, which is then transformed to discrete time domain to implement in a digital processor. Mechanical characterization and testing on a healthy subject are performed to validate the model and its capability to compensate for hysteresis in GCF measurement.

    Original languageEnglish (US)
    Title of host publicationAdvances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
    PublisherAmerican Society of Mechanical Engineers
    Volume1
    ISBN (Electronic)9780791850695
    DOIs
    StatePublished - 2016
    EventASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States
    Duration: Oct 12 2016Oct 14 2016

    Other

    OtherASME 2016 Dynamic Systems and Control Conference, DSCC 2016
    CountryUnited States
    CityMinneapolis
    Period10/12/1610/14/16

    Fingerprint

    Force measurement
    Pressure sensors
    Contacts (fluid mechanics)
    Hysteresis
    Air
    Silicones
    Gait analysis
    Transfer functions
    Lead
    Compensation and Redress
    Calibration
    Testing

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Industrial and Manufacturing Engineering
    • Mechanical Engineering

    Cite this

    Chinimilli, P. T., Wachtel, S. W., Polygerinos, P., & Zhang, W. (2016). Hysteresis compensation for ground contact force measurement with shoe-embedded air pressure sensors. In Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation (Vol. 1). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2016-9920

    Hysteresis compensation for ground contact force measurement with shoe-embedded air pressure sensors. / Chinimilli, Prudhvi Tej; Wachtel, Sean Wolfgang; Polygerinos, Panagiotis; Zhang, Wenlong.

    Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation. Vol. 1 American Society of Mechanical Engineers, 2016.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Chinimilli, PT, Wachtel, SW, Polygerinos, P & Zhang, W 2016, Hysteresis compensation for ground contact force measurement with shoe-embedded air pressure sensors. in Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation. vol. 1, American Society of Mechanical Engineers, ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, Minneapolis, United States, 10/12/16. https://doi.org/10.1115/DSCC2016-9920
    Chinimilli PT, Wachtel SW, Polygerinos P, Zhang W. Hysteresis compensation for ground contact force measurement with shoe-embedded air pressure sensors. In Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation. Vol. 1. American Society of Mechanical Engineers. 2016 https://doi.org/10.1115/DSCC2016-9920
    Chinimilli, Prudhvi Tej ; Wachtel, Sean Wolfgang ; Polygerinos, Panagiotis ; Zhang, Wenlong. / Hysteresis compensation for ground contact force measurement with shoe-embedded air pressure sensors. Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation. Vol. 1 American Society of Mechanical Engineers, 2016.
    @inproceedings{2114d31ae06d488bbc1ef7e82aae70ca,
    title = "Hysteresis compensation for ground contact force measurement with shoe-embedded air pressure sensors",
    abstract = "This paper reviews the design of smart shoes, a wearable device that measures ground contact forces (GCFs) for gait analysis. Smart shoes utilize four coils of silicone tubes adhered directly underneath the shoe insole at key points of interest. Air pressure sensors connect to each tube coil to measure pressure changes caused by compression. This paper presents static and dynamic calibration performed on each sensing coil to establish a model of internal pressure and the GCF. Based on the model, a phase lead filter is designed to account for the hysteresis effect and visco-elastic properties of the silicone tube in order to provide accurate GCF measurements. To design this filter, the air bladder is modeled using a standard linear solid (SLS) model. The prediction error minimization (PEM) algorithm is then implemented to identify the continuous-time transfer function of this SLS model, which is then transformed to discrete time domain to implement in a digital processor. Mechanical characterization and testing on a healthy subject are performed to validate the model and its capability to compensate for hysteresis in GCF measurement.",
    author = "Chinimilli, {Prudhvi Tej} and Wachtel, {Sean Wolfgang} and Panagiotis Polygerinos and Wenlong Zhang",
    year = "2016",
    doi = "10.1115/DSCC2016-9920",
    language = "English (US)",
    volume = "1",
    booktitle = "Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation",
    publisher = "American Society of Mechanical Engineers",

    }

    TY - GEN

    T1 - Hysteresis compensation for ground contact force measurement with shoe-embedded air pressure sensors

    AU - Chinimilli, Prudhvi Tej

    AU - Wachtel, Sean Wolfgang

    AU - Polygerinos, Panagiotis

    AU - Zhang, Wenlong

    PY - 2016

    Y1 - 2016

    N2 - This paper reviews the design of smart shoes, a wearable device that measures ground contact forces (GCFs) for gait analysis. Smart shoes utilize four coils of silicone tubes adhered directly underneath the shoe insole at key points of interest. Air pressure sensors connect to each tube coil to measure pressure changes caused by compression. This paper presents static and dynamic calibration performed on each sensing coil to establish a model of internal pressure and the GCF. Based on the model, a phase lead filter is designed to account for the hysteresis effect and visco-elastic properties of the silicone tube in order to provide accurate GCF measurements. To design this filter, the air bladder is modeled using a standard linear solid (SLS) model. The prediction error minimization (PEM) algorithm is then implemented to identify the continuous-time transfer function of this SLS model, which is then transformed to discrete time domain to implement in a digital processor. Mechanical characterization and testing on a healthy subject are performed to validate the model and its capability to compensate for hysteresis in GCF measurement.

    AB - This paper reviews the design of smart shoes, a wearable device that measures ground contact forces (GCFs) for gait analysis. Smart shoes utilize four coils of silicone tubes adhered directly underneath the shoe insole at key points of interest. Air pressure sensors connect to each tube coil to measure pressure changes caused by compression. This paper presents static and dynamic calibration performed on each sensing coil to establish a model of internal pressure and the GCF. Based on the model, a phase lead filter is designed to account for the hysteresis effect and visco-elastic properties of the silicone tube in order to provide accurate GCF measurements. To design this filter, the air bladder is modeled using a standard linear solid (SLS) model. The prediction error minimization (PEM) algorithm is then implemented to identify the continuous-time transfer function of this SLS model, which is then transformed to discrete time domain to implement in a digital processor. Mechanical characterization and testing on a healthy subject are performed to validate the model and its capability to compensate for hysteresis in GCF measurement.

    UR - http://www.scopus.com/inward/record.url?scp=85015818784&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=85015818784&partnerID=8YFLogxK

    U2 - 10.1115/DSCC2016-9920

    DO - 10.1115/DSCC2016-9920

    M3 - Conference contribution

    AN - SCOPUS:85015818784

    VL - 1

    BT - Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation

    PB - American Society of Mechanical Engineers

    ER -