Estimation of a human posture from force measurements

This research investigates the use of a state observer for a skateboard robot to estimate the states of a human without making direct measurements. The states are chosen to be the inclination angle of a rider and its angular velocity, which are considered to represent the rider´s intention of whether to move fast, slow, or stop. Simulations are carried out using the parameter values of the actual experimental setup and show that these states can be estimated from the measurement of forces at the heel and toe of the rider. Experiments support the results obtained by simulations.