{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:50:16Z","timestamp":1740149416323,"version":"3.37.3"},"reference-count":33,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2020,10,8]],"date-time":"2020-10-08T00:00:00Z","timestamp":1602115200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002347","name":"Federal Ministry of Education and Research","doi-asserted-by":"publisher","award":["02L17C012","16SV7115"],"id":[{"id":"10.13039\/501100002347","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"Kinetic models of human motion rely on boundary conditions which are defined by the interaction of the body with its environment. In the simplest case, this interaction is limited to the foot contact with the ground and is given by the so called ground reaction force (GRF). A major challenge in the reconstruction of GRF from kinematic data is the double support phase, referring to the state with multiple ground contacts. In this case, the GRF prediction is not well defined. In this work we present an approach to reconstruct and distribute vertical GRF (vGRF) to each foot separately, using only kinematic data. We propose the biomechanically inspired force shadow method (FSM) to obtain a unique solution for any contact phase, including double support, of an arbitrary motion. We create a kinematic based function, model an anatomical foot shape and mimic the effect of hip muscle activations. We compare our estimations with the measurements of a Zebris pressure plate and obtain correlations of 0.39\u2264r\u22640.94 for double support motions and 0.83\u2264r\u22640.87 for a walking motion. The presented data is based on inertial human motion capture, showing the applicability for scenarios outside the laboratory. The proposed approach has low computational complexity and allows for online vGRF estimation.<\/jats:p>","DOI":"10.3390\/s20195709","type":"journal-article","created":{"date-parts":[[2020,10,8]],"date-time":"2020-10-08T12:52:41Z","timestamp":1602161561000},"page":"5709","source":"Crossref","is-referenced-by-count":3,"title":["Force Shadows: An Online Method to Estimate and Distribute Vertical Ground Reaction Forces from Kinematic Data"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0695-3801","authenticated-orcid":false,"given":"Alexander","family":"Weidmann","sequence":"first","affiliation":[{"name":"Junior Research Group wearHEALTH, Technische Universit\u00e4t Kaiserslautern, Gottlieb-Daimler-Str. 48, 67663 Kaiserslautern, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9921-4874","authenticated-orcid":false,"given":"Bertram","family":"Taetz","sequence":"additional","affiliation":[{"name":"Augmented Vision Department, Deutsches Forschungszentrum f\u00fcr K\u00fcnstliche Intelligenz (DFKI), Trippstadter Str. 122, 67663 Kaiserslautern, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3496-357X","authenticated-orcid":false,"given":"Matthias","family":"Andres","sequence":"additional","affiliation":[{"name":"Department of Technomathematics, Technische Universit\u00e4t Kaiserslautern, Gottlieb-Daimler-Str. 48, 67663 Kaiserslautern, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3836-6545","authenticated-orcid":false,"given":"Felix","family":"Laufer","sequence":"additional","affiliation":[{"name":"Junior Research Group wearHEALTH, Technische Universit\u00e4t Kaiserslautern, Gottlieb-Daimler-Str. 48, 67663 Kaiserslautern, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7283-8166","authenticated-orcid":false,"given":"Gabriele","family":"Bleser","sequence":"additional","affiliation":[{"name":"Junior Research Group wearHEALTH, Technische Universit\u00e4t Kaiserslautern, Gottlieb-Daimler-Str. 48, 67663 Kaiserslautern, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.bspc.2007.09.001","article-title":"Human motion tracking for rehabilitation\u2014A survey","volume":"3","author":"Zhou","year":"2008","journal-title":"Biomed. Signal Process. Control"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"3362","DOI":"10.3390\/s140203362","article-title":"Gait Analysis Methods: An Overview of Wearable and Non-Wearable Systems, Highlighting Clinical Applications","volume":"14","year":"2014","journal-title":"Sensors"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Park, J., Na, Y., Gu, G., and Kim, J. (2016, January 26\u201329). Flexible insole ground reaction force measurement shoes for jumping and running. Proceedings of the 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore.","DOI":"10.1109\/BIOROB.2016.7523772"},{"key":"ref_4","first-page":"342","article-title":"Reliability of ground reaction forces during a vertical jump: Implications for functional strength assessment","volume":"31","author":"Cordova","year":"1996","journal-title":"J. Athl. Train."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1095","DOI":"10.1016\/0021-9290(91)90002-5","article-title":"Calculation of vertical ground reaction force estimates during running from positional data","volume":"24","author":"Bobbert","year":"1991","journal-title":"J. Biomech."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1016\/0003-6870(77)90164-8","article-title":"Correcting working postures in industry: A practical method for analysis","volume":"8","author":"Karhu","year":"1977","journal-title":"Appl. Ergon."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1080\/00140139008927111","article-title":"Observations of working postures in garages using the Ovako Working Posture Analysing System (OVVAS) and consequent workload reduction recommendations","volume":"33","author":"Kant","year":"1990","journal-title":"Ergonomics"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1016\/0003-6870(91)90009-7","article-title":"Analysis and improvement of work postures in the building industry: Application of the computerised OWAS method","volume":"22","author":"Kivi","year":"1991","journal-title":"Appl. Ergon."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1080\/095939800307601","article-title":"Comparison of F-Scan in-sole and AMTI forceplate system in measuring vertical ground reaction force during gait","volume":"16","author":"Chen","year":"2000","journal-title":"Physiother. Theory Pract."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"2372","DOI":"10.1016\/j.jbiomech.2013.07.036","article-title":"Prediction of ground reaction forces during gait based on kinematics and a neural network model","volume":"46","author":"Oh","year":"2013","journal-title":"J. Biomech."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Karatsidis, A., Bellusci, G., Schepers, H., de Zee, M., Andersen, M., and Veltink, P. (2016). Estimation of Ground Reaction Forces and Moments During Gait Using Only Inertial Motion Capture. Sensors, 17.","DOI":"10.3390\/s17010075"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"853","DOI":"10.1016\/j.jbiomech.2004.04.030","article-title":"Dynamic analysis of load carriage biomechanics during level walking","volume":"38","author":"Ren","year":"2005","journal-title":"J. Biomech."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"2750","DOI":"10.1016\/j.jbiomech.2008.06.001","article-title":"Whole body inverse dynamics over a complete gait cycle based only on measured kinematics","volume":"41","author":"Ren","year":"2008","journal-title":"J. Biomech."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"2321","DOI":"10.1016\/j.jbiomech.2014.04.030","article-title":"Prediction of ground reaction forces and moments during various activities of daily living","volume":"47","author":"Fluit","year":"2014","journal-title":"J. Biomech."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"197","DOI":"10.1016\/0021-9290(82)90252-4","article-title":"Closed loop problems in biomechanics. Part I\u2014A classification system","volume":"15","author":"Vaughan","year":"1982","journal-title":"J. Biomech."},{"key":"ref_16","unstructured":"Bernstein, N.A. (1967). The Coordination and Regulation of Movements, Pergamon Press."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1427","DOI":"10.1016\/j.jbiomech.2003.12.016","article-title":"Use of pressure insoles to calculate the complete ground reaction forces","volume":"37","author":"Koopman","year":"2004","journal-title":"J. Biomech."},{"key":"ref_18","first-page":"53","article-title":"Estimated ground reaction force in normal and pathological gait","volume":"11","author":"Winiarski","year":"2009","journal-title":"Acta Bioeng. Biomech."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Gross, D., Hauger, W., Schr\u00f6der, J., and Wall, W.A. (2019). Technische Mechanik 1 Statik, Springer. OCLC: 1103690329.","DOI":"10.1007\/978-3-662-59157-4"},{"key":"ref_20","unstructured":"Zatsiorsky, V.M. (2002). Kinetics of Human Motion, Human Kinetics."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Van Alsenoy, K., Thomson, A., and Burnett, A. (2018). Reliability and validity of the Zebris FDM-THQ instrumented treadmill during running trials. Sports Biomech., 18.","DOI":"10.1080\/14763141.2018.1452966"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Golyanik, V., Taetz, B., Reis, G., and Stricker, D. (2016, January 7\u201310). Extended coherent point drift algorithm with correspondence priors and optimal subsampling. Proceedings of the 2016 IEEE Winter Conference on Applications of Computer Vision (WACV), Lake Placid, NY, USA.","DOI":"10.1109\/WACV.2016.7477719"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1016\/S0268-0033(01)00026-2","article-title":"A Comparison of vertical force and temporal parameters produced by an in-shoe pressure measuring system and a force platform","volume":"16","author":"Barnett","year":"2001","journal-title":"Clin. Biomech."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1016\/j.gaitpost.2012.07.012","article-title":"Quantitative estimation of foot-flat and stance phase of gait using foot-worn inertial sensors","volume":"37","author":"Mariani","year":"2013","journal-title":"Gait Posture"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Miezal, M., Taetz, B., and Bleser, G. (2016). On Inertial Body Tracking in the Presence of Model Calibration Errors. Sensors, 16.","DOI":"10.3390\/s16071132"},{"key":"ref_26","first-page":"1","article-title":"A contact model to simulate human\u2013artifact interaction based on force optimization: Implementation and application to the analysis of a training machine","volume":"20","author":"Wartzack","year":"2017","journal-title":"Comput. Methods Biomech. Biomed. Eng."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"276","DOI":"10.1016\/j.patcog.2017.02.018","article-title":"Building Statistical Shape Spaces for 3D Human Modeling","volume":"67","author":"Pishchulin","year":"2017","journal-title":"Pattern Recognit."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1080\/10255842.2019.1688310","article-title":"Depth camera based statistical shape fitting approach for the creation of an individualized lower body biomechanical model: Validity and reliability","volume":"23","author":"Taetz","year":"2020","journal-title":"Comput. Methods Biomech. Biomed. Eng."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Bogo, F., Black, M.J., Loper, M., and Romero, J. (2015, January 7\u201313). Detailed Full-Body Reconstructions of Moving People from Monocular RGB-D Sequences. Proceedings of the 2015 IEEE International Conference on Computer Vision (ICCV), Santiago, Chile.","DOI":"10.1109\/ICCV.2015.265"},{"key":"ref_30","unstructured":"Taetz, B., Bleser, G., and Miezal, M. (2016, January 5\u20138). Towards self-calibrating inertial body motion capture. Proceedings of the 2016 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Zimmermann, T., Taetz, B., and Bleser, G. (2018). IMU-to-Segment Assignment and Orientation Alignment for the Lower Body Using Deep Learning. Sensors, 18.","DOI":"10.3390\/s18010302"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"566","DOI":"10.1016\/j.apergo.2012.11.008","article-title":"Innovative system for real-time ergonomic feedback in industrial manufacturing","volume":"44","author":"Vignais","year":"2013","journal-title":"Appl. Ergon."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"2001","DOI":"10.3390\/ijerph15092001","article-title":"Wearable Monitoring Devices for Biomechanical Risk Assessment at Work: Current Status and Future Challenges-A Systematic Review","volume":"15","author":"Alberto","year":"2018","journal-title":"Int. J. Environ. Res. Public Health"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/19\/5709\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,20]],"date-time":"2025-01-20T13:43:11Z","timestamp":1737380591000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/19\/5709"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,8]]},"references-count":33,"journal-issue":{"issue":"19","published-online":{"date-parts":[[2020,10]]}},"alternative-id":["s20195709"],"URL":"https:\/\/doi.org\/10.3390\/s20195709","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2020,10,8]]}}}