Human Dynamics Estimation IWear Source Devices

Documentation for running the wearable data source can be found in wearables at the following links:

• FTShoes
• XsensSuit
• iCub robot

Accordingly the the desired application, a certain number of wearable source is required accordingly to the following table:

Application	hardware	werable device
Inverse Kinematics	kinematic sensors	XsensSuit
Dynamics Estimation	kinematic sensors FTshoes	XsensSuit FTshoes
Human-Robot Interaction	kinematic sensors FTsensors FTshoes	XsensSuit FTshoes robot
Whole-Body Retargeting	kinematic sensors robot	XsensSuit