Figure 6

Calibration procedures. Top panel: CAD view of calibration procedures: the operator on the walkway (6) loads the three-axial load cell (3) and consequently the force platform. The referring position plate (7), clamped on the sensorized surface, allows to locate the load cell (3), with known angular reference by means of pivots (5) mounted on the load cell support (4); the gripper disc (1) is stuck under the walkway and hosts a spherical joint (2) connecting the load cell. Bottom panel: schematic representation of the mechanical model during the calibration procedure; noticeable, the load cell measures the same force that the walkway applies to the sensorized surface.