Quantification of human body movement for biomechanics and human robot interfaces

Quantification of human body movements plays an important role in 1) biomechanics for objectively analyzing movements and 2) robotics for developing human robot interfaces (HRI) for mobility devices. To help biomechanists develop their own affordable inertial measurement unit (IMU) system, a low-cost IMU system was explored and validated using a custom test apparatus. Seven commonly used IMU algorithms ranging from simple to advanced sensor fusion algorithms were implemented and analyzed in terms of accuracy and computational efficiencies. To provide roboticists with a practical torso sensor system, the Torso-dynamics Estimation System (TES), consisting of a Force Sensing Seat (FSS) and IMU, was developed and validated by comparing TES readings to research-grade equipment. Using the¬¬ TES readings, a novel hands-free (HF) control HRI was formulated for commanding a self-balancing and omnidirectional personal mobility device, Personalized Unique Rolling Experience (PURE). The feasibility of HF scheme on PURE was investigated by conducting a virtual study that instructed participants to navigate a virtual PURE through a course conforming to U.S. building codes. This study determined that HF control performed as well as conventional joystick (JS) control and mWCUs performed as well as ABUs. Moreover, a physical study, that asked participants to ride the physical PURE prototype through an indoors course resembling the virtual course, was executed. A more compact and lighter FSS with adjustable seat dimensions was developed and assembled on PURE. Like the previous study, the HF control performed as well as the JS control, and mWCUs performed as well as ABUs.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois Urbana-Champaign

Year dc:date

2025

Author dc:creator

• Song, Seung Yun

Contributors dc:contributor

• Hsiao-Wecksler, Elizabeth
• Ramos, Joao
• Norris, William
• McDonagh, Deana

• Human-robot interaction
• robotics
• mobility device
• hands-free control
• inertial measurement units

Statement dc:rights

• Copyright 2025 Seung Yun Song

Language dc:language

en, eng

Handle dc:identifier

https://hdl.handle.net/2142/129280

OAI record oai:identifier

https://www.ideals.illinois.edu/oai-pmh?verb=GetRecord&metadataPrefix=etdms&identifier=oai%3Awww.ideals.illinois.edu%3A2142%2F129280