{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/129280"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/129280","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Quantification of human body movement for biomechanics and human robot interfaces","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_has_math":false,"creators":["Song, Seung Yun"],"institution":"University of Illinois Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Hsiao-Wecksler, Elizabeth","Ramos, Joao","Norris, William","McDonagh, Deana"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-04-29","date_published":"2025-04-29","updated_at":"2026-07-22T22:25:04Z","subjects":["Human-robot interaction","robotics","mobility device","hands-free control","inertial measurement units"],"languages":["en","eng"],"rights":["Copyright 2025 Seung Yun Song"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/129280","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Hsiao-Wecksler, Elizabeth","Ramos, Joao","Norris, William","McDonagh, Deana"]},{"key":"dc:creator","label":"Author","values":["Song, Seung Yun"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-04-29","2025-05"]},{"key":"dc:type","label":"Dc Type","values":["text","Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Human-robot interaction","robotics","mobility device","hands-free control","inertial measurement units"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2025 Seung Yun Song"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/129280"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","The student, Seung Yun Song, accepted the attached license on 2025-04-29 at 12:16.","The student, Seung Yun Song, submitted this Dissertation for approval on 2025-04-29 at 13:11.","This Dissertation was approved for publication on 2025-04-29 at 17:09.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22083 on 2025-10-19 at 18:11:15","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."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Quantification of human body movement for biomechanics and human robot interfaces"]}]}],"canonical_facts":{"dc:contributor":["Hsiao-Wecksler, Elizabeth","Ramos, Joao","Norris, William","McDonagh, Deana"],"dc:creator":["Song, Seung Yun"],"dc:date":["2025-04-29","2025-05"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","The student, Seung Yun Song, accepted the attached license on 2025-04-29 at 12:16.","The student, Seung Yun Song, submitted this Dissertation for approval on 2025-04-29 at 13:11.","This Dissertation was approved for publication on 2025-04-29 at 17:09.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22083 on 2025-10-19 at 18:11:15","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."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/129280"],"dc:language":["en","eng"],"dc:rights":["Copyright 2025 Seung Yun Song"],"dc:subject":["Human-robot interaction","robotics","mobility device","hands-free control","inertial measurement units"],"dc:title":["Quantification of human body movement for biomechanics and human robot interfaces"],"dc:type":["text","Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:04Z"}