Human Dynamics Estimation (HDE) is a YARP module architecture for the estimation of the dynamics in humans while are physically interacting with a robot.
The HDE theoretical background is described here. HDE is the on-line evolution of the Matlab code present in MAPest repository. The general idea is to be able in real-time to estimate the forces acting on the human body during an physical interaction with a robot. A ROS visualizer allows to visualize in real-time the interaction.
A general overview of HDE is described as follows:
- a human-state-provider module;
- a human-forces-provider module;
- a human-dynamics-estimator module;
- the human-viz-bridge tool for the visualization.
Except for the robot, raw data are typically coming from drivers.
to be written