Intelligent Systems
Note: This research group has relocated.


2023


An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment
An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment

Sarvestani, A., Ruppert, F., Badri-Spröwitz, A.

2023 (unpublished) Submitted

Abstract
Ground reaction force sensing is one of the key components of gait analysis in legged locomotion research. To measure continuous force data during locomotion, we present a novel compound instrumented treadmill design. The treadmill is 1.7 m long, with a natural frequency of 170 Hz and an adjustable range that can be used for humans and small robots alike. Here, we present the treadmill’s design methodology and characterize it in its natural frequency, noise behavior and real-life performance. Additionally, we apply an ISO 376 norm conform calibration procedure for all spatial force directions and center of pressure position. We achieve a force accuracy of ≤ 5.6 N for the ground reaction forces and ≤ 13 mm in center of pressure position.

arXiv link (url) DOI [BibTex]

2022


Data of: Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot
Data of: Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot

Kiss, B., Gonen, E. C., Mo, A., Buchmann, A., Renjewski, D., Badri-Spröwitz, A.

July 2022 (misc)

Abstract
Data, code, and CAD for IROS 2022 publication Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot

link (url) DOI [BibTex]

2019


Electronics, Software and Analysis of a Bioinspired Sensorized Quadrupedal Robot

2018


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Gait analysis of running guinea fowls

Bonnet, A.

August 2018 (mastersthesis)

[BibTex]

2018

[BibTex]

2017


Evaluation of the passive dynamics of compliant legs with inertia
Evaluation of the passive dynamics of compliant legs with inertia

Györfi, B.

University of Applied Science Pforzheim, Germany, 2017 (mastersthesis)

[BibTex]

2017

[BibTex]