disturbance observer

A Backpack Minimizing the Vertical Acceleration of the Load Improves the Economy of Human Walking

Author(s): Lei He, Caihua Xiong, Qinhao Zhang, Wenbin Chen, Chenglong Fu, Kok-Meng Lee
A Backpack Minimizing the Vertical Acceleration of the Load Improves the Economy of Human Walking 799 1000 Transactions on Neural Systems and Rehabilitation Engineering (TNSRE)
Loaded walking with a rucksack results in both gravitational and inertial forces of the load that must be borne by human carriers. The inertial force may be the source of metabolic burden and musculoskeletal injuries. This paper presents a lightweight backpack with a disturbance observer-based acceleration control to minimize the inertial force. read more