Force sensor selection #40
Ahmadreza-Shahrokhshahi
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Six-axis F/T sensor information (including horizontal GRF components) are used in the
So, yes: you can shortcut the net wrench observer and provide these values directly to the stabilizer. This will work if you have four one-axis force sensors at your soles (this design has been e.g. tried on the Nao humanoid). |
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Hi Dr. Caron,
I hope you're doing well.
As a part of the design of our exoskeleton robot, for selecting the force sensors, we need to make sure if measuring the horizontal components of the GRF (i.e. fx and fy) is needed. We have looked at the paper and the codes of the controller and the observer, but didn't find any equation in which using the horizontal components of the GRF is essential. Do you agree with me that having four one-axis force sensors for each footplate would be sufficient?
It is important for the sensor selection and would effect our costs and deign process.
Thank you
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