Figure 6From: Extraction of user's navigation commands from upper body force interaction in walker assisted gait Signal processing architecture for estimation of user's intent force component. F ij is the force signal obtained from axis (j), sensor (i). F ( ι f ) i j denotes the force signal obtained after the high frequency noise cancelation and F ( c a d ) i j is the periodical, cadence-dependent component of force. Cadence estimation stage by means of WLFC is indicated with dashed lines.Back to article page