{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T10:45:04Z","timestamp":1762253104044,"version":"3.38.0"},"reference-count":24,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2019,9,5]],"date-time":"2019-09-05T00:00:00Z","timestamp":1567641600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"national natural science foundation of china","doi-asserted-by":"publisher","award":["51475261"],"award-info":[{"award-number":["51475261"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2020,1]]},"abstract":"<jats:p> To achieve treadmill speed adaption to the user\u2019s walking speed and reduce treadmill acceleration ripples during walking for enhancing a non-intrusive walking sense, this paper presents a novel strategy to analytically design the acceleration of treadmill by introducing a virtual force and a virtual force moment balance kinetic model. To explicitly handle the treadmill velocity to adapt the user\u2019s walking speed as well as treadmill acceleration ripples, the designed acceleration of treadmill and its derivative are specially selected as the input variables of treadmill controller. Since the user\u2019s relative position and absolute walking speed are all taken into account, the resulting velocity and acceleration ripples of treadmill can be properly updated to improve the sense of reality during the user walking by only tuning the defined design parameters and control parameters. The experiments are conducted and the effective of the proposed strategy is verified by results. <\/jats:p>","DOI":"10.1177\/0142331219868924","type":"journal-article","created":{"date-parts":[[2019,9,5]],"date-time":"2019-09-05T09:02:51Z","timestamp":1567674171000},"page":"322-329","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Speed adaptation and acceleration ripple suppression of treadmill user system using a virtual force moment balance model"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2592-3867","authenticated-orcid":false,"given":"Wei","family":"Wang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision\/Ultra-Precision Manufacturing Equipment and Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"}]},{"given":"Kaiming","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision\/Ultra-Precision Manufacturing Equipment and Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"}]},{"given":"Yu","family":"Zhu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision\/Ultra-Precision Manufacturing Equipment and Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"}]},{"given":"Haihua","family":"Mu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision\/Ultra-Precision Manufacturing Equipment and Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"}]}],"member":"179","published-online":{"date-parts":[[2019,9,5]]},"reference":[{"key":"bibr1-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462897"},{"key":"bibr2-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2017.8037341"},{"key":"bibr3-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2009.07.024"},{"key":"bibr4-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1049\/el.2016.4171"},{"key":"bibr5-0142331219868924","first-page":"53","volume-title":"Proceedings of IEEE EuroHaptics Conference","author":"Checcacci D","year":"2003"},{"key":"bibr6-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1162\/105474600566574"},{"key":"bibr7-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5652260"},{"key":"bibr8-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2011.2120623"},{"key":"bibr9-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2015.2404357"},{"key":"bibr10-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2341039"},{"key":"bibr11-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1145\/1227134.1227141"},{"key":"bibr12-0142331219868924","first-page":"5051","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Luca AD","year":"2009"},{"key":"bibr13-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2010.5626105"},{"key":"bibr14-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2014.07.022"},{"key":"bibr15-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00128.2003"},{"key":"bibr16-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2018.07.035"},{"key":"bibr17-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1249\/MSS.0b013e3181677530"},{"volume-title":"Research Methods in Biomechanics","year":"2004","author":"Robertson J","key":"bibr18-0142331219868924"},{"key":"bibr19-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1145\/1670671.1670675"},{"key":"bibr20-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/EIT.2017.8053423"},{"key":"bibr21-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-013-0241-3"},{"key":"bibr22-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-9-62"},{"key":"bibr23-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.903926"},{"key":"bibr24-0142331219868924","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2017.8037326"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331219868924","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0142331219868924","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331219868924","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T03:36:54Z","timestamp":1740800214000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0142331219868924"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,9,5]]},"references-count":24,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,1]]}},"alternative-id":["10.1177\/0142331219868924"],"URL":"https:\/\/doi.org\/10.1177\/0142331219868924","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"type":"print","value":"0142-3312"},{"type":"electronic","value":"1477-0369"}],"subject":[],"published":{"date-parts":[[2019,9,5]]}}}