{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,13]],"date-time":"2026-07-13T21:00:45Z","timestamp":1783976445645,"version":"3.55.0"},"reference-count":26,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2019,6,21]],"date-time":"2019-06-21T00:00:00Z","timestamp":1561075200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100010661","name":"Horizon 2020 Framework Programme","doi-asserted-by":"publisher","award":["731540"],"award-info":[{"award-number":["731540"]}],"id":[{"id":"10.13039\/100010661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The paper presents a stochastic methodology for the simultaneous floating-base estimation of the human whole-body kinematics and dynamics (i.e., joint torques, internal and external forces). The paper builds upon our former work where a fixed-base formulation had been developed for the human estimation problem. The presented approach is validated by presenting experimental results of a health subject equipped with a wearable motion tracking system and a pair of shoes sensorized with force\/torque sensors while performing different motion tasks, e.g., walking on a treadmill. The results show that joint torque estimates obtained by using floating-base and fixed-base approaches match satisfactorily, thus validating the present approach.<\/jats:p>","DOI":"10.3390\/s19122794","type":"journal-article","created":{"date-parts":[[2019,6,21]],"date-time":"2019-06-21T11:54:31Z","timestamp":1561118071000},"page":"2794","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4792-4588","authenticated-orcid":false,"given":"Claudia","family":"Latella","sequence":"first","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9283-6133","authenticated-orcid":false,"given":"Silvio","family":"Traversaro","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0808-9754","authenticated-orcid":false,"given":"Diego","family":"Ferigo","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy"},{"name":"Machine Learning and Optimisation, The University of Manchester, Manchester M13 9PL, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0467-0074","authenticated-orcid":false,"given":"Yeshasvi","family":"Tirupachuri","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy"},{"name":"DIBRIS, University of Genova, 16145 Genova, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3071-9676","authenticated-orcid":false,"given":"Lorenzo","family":"Rapetti","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy"},{"name":"Machine Learning and Optimisation, The University of Manchester, Manchester M13 9PL, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Francisco Javier","family":"Andrade Chavez","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Francesco","family":"Nori","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7600-3203","authenticated-orcid":false,"given":"Daniele","family":"Pucci","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, 16163 Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,6,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Tirupachuri, Y., Nava, G., Latella, C., Ferigo, D., Rapetti, L., Tagliapietra, L., Nori, F., and Pucci, D. 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