Fig. 3
From: Using force data to self-pace an instrumented treadmill and measure self-selected walking speed
Estimations of State Estimator and motion capture system. The plots show the subject’s estimated a instantaneous speed v, b mean speed of each step, \(\bar {v}\), c instantaneous position, p, and d mean position of each step, \(\bar {p}\). All speeds and positions are in the lab reference frame. The values are estimated with the proposed Kalman filter (black line), motion capture system (blue line), and by simply integrating the ground reaction forces (red line). e The data are collected during a one-minute trial where the treadmill speed, vtm, changes from 1.8 to 0.8 m s −1 as shown in the bottom plot. Panels at right provide an enlarged view of the final five seconds of data