An Experimental Analysis of Vibrations During Walking in Humans and Robots

A walking operation can be analyzed by looking at vibration aspects in some elements of the walking system with the aim to characterize the performance and even to identify possible improvements in operation and design structure. The paper presents an experimental approach whose feasibility is reported with basic tests on humans and robot prototypes by using IMU sensors. Vibration sources are detected in foot impacts and periodic functioning of the walking with characteristics values that can be valuated for walking efficiency and failure prediction.