Kevin Michael Brand



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Determining and then tracking the center of mass is difficult for a connected system of segments, such as a human, animal, or humanoid robot. Available techniques to perform these operations are complicated, time-consuming, or expensive. The technique known as Statically Equivalent Serial Chain (SESC) modeling promises to be inexpensive, using only an Xbox Kinect and a Wii Balance Board for equipment, and quick because only a modest number of subject poses are needed. Although SESC models have previously proven to reasonably estimate the center of mass (CoM) of systems of bodies from a limited number of experiments, recent validation testing shows the capacity for significant improvement. This research aimed to improve upon current testing protocols, reduce sensor error through improved calibration, and refine the algorithm employed to produce more meaningful parameters. As the CoM is an important parameter in gait analysis, SESC methods are prominent when considering in-home rehabilitation techniques that are versatile enough to improve potentially offset CoM problems for people of differing body types and sizes. Due to this significance, the research performed continued the development of the SESC technique toward its use in individualized rehabilitation protocols.

Publication Date


Project Designation

Graduate Research

Primary Advisor

Andrew P. Murray, David A. Perkins

Primary Advisor's Department

Mechanical and Aerospace Engineering


Stander Symposium project

Experimental Validation and Reliability Testing for Center of Mass Body Tracking