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

    9 Scopus citations


    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
    ISBN (Electronic)9780791850695
    StatePublished - 2016
    EventASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States
    Duration: Oct 12 2016Oct 14 2016


    OtherASME 2016 Dynamic Systems and Control Conference, DSCC 2016
    CountryUnited States

    ASJC Scopus subject areas

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

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