Experimental Method for Analyzing Human and Robot Balance

Kistler Force Plate (FP) (model 9286AA) with the corresponding software Bioware (2812A1-3, Version: 3.2.6.104), along with other equipment, were used for the research described in the present paper. The software contains a number of equations for the calculation of all the variables obtained in the form of amplified electrical signals from the piezoelectric sensors incorporated in the FP. The parameters used from Bioware are the center of pressure bi planar along two axes and the forces along three axes. These parameters have been collected during different standard intervals (30 seconds and 90 seconds) of time at a frequency of 100Hz. Using this, there has been used a couple of new parameters along with others, from the scientific literature, in order to evaluate the balance of the human subjects in various conditions. This can lead, analogically, to the analysis of robot stable and dynamic balance, considering also the ZMP (Zero Moment Point) method. The study was taken at Transylvania University of Brasov.