The Biomechanical Fidelity of Slope Simulation on the Sarcos Treadport Using Whole-Body Force Feedback

  • Rose Mills
  • John M. Hollerbach
  • William B. Thompson
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


This paper addresses whether whole-body force feedback on treadmill-style locomotion interfaces can simulate the gravity forces experienced when walking on smooth inclines. By applying horizontal force feedback possible with the active mechanical tether of the Sarcos Treadport, it is shown that the biomechanics of walking are similar under conditions of real slope walking versus tether force walking. These biomechanical results complement previous psychophysical studies which yielded the same result, to conclude definitively that whole-body force feedback can realistically substitute for treadmill tilt.


Gravity Force Force Feedback Fractional Force Psychophysical Result Tilt Mechanism 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Rose Mills
    • 1
  • John M. Hollerbach
    • 2
  • William B. Thompson
    • 2
  1. 1.Computer Science Dept.University of IowaIowa City
  2. 2.School of ComputingUniversity of UtahSalt Lake City

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