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Force measurement system having inertial compensation

  • US 8,315,822 B2
  • Filed: 04/20/2011
  • Issued: 11/20/2012
  • Est. Priority Date: 04/20/2011
  • Status: Active Grant
First Claim
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1. A force measurement system having inertial compensation, the force measurement system comprising:

  • a force measurement assembly configured to receive a subject, the force measurement assembly including;

    a surface for receiving at least one portion of the body of the subject;

    at least one force transducer, the at least one force transducer configured to sense a measured quantity and output a signal that is representative of forces and/or moments being applied to the surface of the force measurement assembly by the subject;

    at least one accelerometer configured to measure the acceleration of the force measurement assembly;

    at least one angular velocity sensor configured to measure the angular velocity of the force measurement assembly; and

    a data processing device operatively coupled to the force measurement assembly, the data processing device configured to receive the signal that is representative of the forces and/or moments being applied to the surface of the force measurement assembly by the subject and to convert the signal into output forces and/or moments, the data processing device being configured to receive the acceleration and the angular velocity measured by the at least one accelerometer and the at least one angular velocity sensor, respectively, and the data processing device further being configured to use the acceleration and the angular velocity measured by the at least one accelerometer and the at least one angular velocity sensor, respectively, to compute inertial forces and moments, and to determine corrected externally applied forces by computing the mathematical difference between the computed inertial forces and the output forces, and/or to determine corrected externally applied moments by computing the mathematical difference between the computed inertial moments and the output moments so as to improve the measurement accuracy of the forces and/or moments being applied to the surface of the force measurement assembly by the subject;

    wherein the data processing device executes a calibration procedure, which is loaded thereon from a computer-readable medium, and determines inertial parameters of the force measurement assembly through the utilization of linear and/or rotational motion profiles applied to the force measurement assembly by a motion base disposed thereunder; and

    wherein the inertial parameters of the force measurement assembly comprise the mass of the assembly, the rotational inertia of the assembly, and the position vector of the center of gravity of the assembly, and wherein the mass of the assembly is computed as a function of measured forces determined using the at least one force transducer and the acceleration measured by the at least one accelerometer.

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