ForceShoe - Xsens

ForceShoe

The Xsens ForceShoe is a unique, fully ambulatory system for 3D
measurement of forces and torques under the foot, as well as 3D
kinematics of the foot; like an ambulatory gait lab. The complete
measurement system includes Xsens motion trackers (MTx) and 3DOF force sensors
built inside a shoe sole allowing complete freedom of movement, in and outside of the
lab. Data is sent wirelessly from the shoe, in real-time to Xsens dedicated software.
The ForceShoe is independent of external devices; making it ideal for research
incorporating many successive strides, or repetitive movements.
product overview
The ForceShoe is delivered in a carrying case, including:
• 1 x pair ForceShoes
- 2 x MTx per shoe
- 2 x force load cells per shoe
• ForceShoe software
- MT Manager
- MT Software Development Kit (MT SDK)
Fully ambulatory, the Xsens ForceShoe can be worn
anywhere. Using the ForceShoe 3D forces and torques under
the foot, as well as 3D kinematics of the foot are measured,
for every step taken.
Force and kinematic hardware are built into the outer sole of an
orthopaedic sandal. Data is time-synchronised and transmitted
wirelessly to the PC via the Xsens Xbus master (XM).
Using MT Manager, or self-built software with the MT
Software Development Kit, data can be visualised in realtime
and recorded / saved for further processing.
FEATURES
• Freedom of movement
• Use anywhere, in and out of the lab, on stairs, outside,
on the factory floor, no lab required
• Complete 3D force, 3D torque, 3D foot orientation for
every step taken
• Combine with additional MTx for kinematics or other
segments
• Wireless data transmission
• No data loss due to incomplete foot placement
• Easy “roll-off” during walking due to a special mechanical
construction
• Create statistical averages using all steps taken
APPLICATIONS
• Biomechanics research
• Rehabilitation research
• Gait analysis
• Ergonomics research
• Sports research

TECHNICAL SPECIFICATIONS
Output
• 3D orientation
- (Quaternions/Matrix/Euler angles)
• 3D acceleration (m/s 2 )
• 3D angular velocity (deg/s)
• 3D earth-magnetic field (normalized) (mGauss)
• 3D Force (N)
• 3D Torque (Nm)
• Temperature (ºC)
Physical Properties
• Sole height: ~32 mm (sensors module height)
• Weight:
~1100 gr per shoe
Application environment
• Indoor or outdoor in clean conditions
• Avoid sandy environments
Operating Temperature Range
• Operating temperature: 0 … +40°C
• Storage temperature:
0 … +40°C
Sensor Performance
See the MTx brochure for technical specifications of 3D orientation, inertial and magnetic parameters.
Force Units
Force
Torque
Fx, Fy Fz Tx, Ty, Tz
Sensing range ±580 N 1 ±1160 N 2 ±20 Nm 3 ±20 Nm 3
Resolution ~1/2 N 4 ~1/2 N 4 ~1/94 Nm 4 ~1/188 Nm 4
Single-Axis Overload 5100 N, 10000 N 110 Nm 140 Nm
Stiffness (calculated) 7.4x10 7 N/m 9.8x10 7 N/m 1.7x10 4 Nm/rad 3.x10 4 Nm/rad
FORCESHOE DEVELOPMENT kit
MT Manager
The ForceShoe uses Xsens MT Manager to collect and
display real-time 3D orientation and inertial and force sensor
component data. Replay logged data in graphical format and
export ASCII files for further analysis.
MT Software Development Kit (MT SDK)
MT SDK is a software package for real-time access to
ForceShoe data. The SDK provides access to all levels of
data (3D orientation, 3D calibrated sensor data) and enables
application developers to create specialized environments
for visualizing, recording and processing; example code is
provided.
1
extended to non-calibrated approximately ±1100 N
2
extended to non-calibrated approximately ±2200 N
3
extended to non-calibrated approximately ±38 Nm
4
increased due to ext. range

About Xsens
Xsens is a leading developer and global supplier of 3D motion tracking
products based upon miniature (MEMS) inertial sensor technology.
Since its foundation in 2000, thousands of motion sensors and motion
capture solutions have successfully been deployed for 3D character
animation, movement science, control of autonomous vehicles and
stabilization. Clients of Xsens include Electronic Arts, NBC Universal,
INAIL Prosthesis Centre, Daimler, Saab, Kongsberg Defence Systems
and many other companies and institutes throughout the world.
Xsens is working with several industry partners, including Autodesk,
Sagem (Safran Group) and Siemens.
Xsens’ research department has created unique intellectual property in
the field of multi-sensor data fusion algorithms, combining inertial sensors
with GPS and RF positioning and biomechanical modelling. Xsens and
its products have received several awards and five consecutive entries in
Deloitte’s ranking of fastest growing technology companies in Europe.
Xsens is a privately held company with its headquarters in Enschede,
the Netherlands and a US subsidiary in Los Angeles, California.
Xsens
phone +31 88 97367 00
fax +31 88 97367 01
general e-mail info@xsens.com
sales e-mail sales@xsens.com
Xsens North America Inc.
phone +1 310-481-1800
fax +1 310-416-9044
general e-mail info@xsens.com
sales e-mail sales@xsens.com
© 2005-2012, Xsens Technologies B.V. All rights reserved. Information in this document is subject to
change without notice. Xsens, MVN, MTi, MTx, MTw and Awinda are registered trademarks or trademarks
of Xsens Technologies B.V. and/or its parent, subsidiaries and/or affiliates in The Netherlands,
the USA and/or other countries. All other trademarks are the property of their respective owners.