Fig. 1 Friction coefficient curves for different surfaces More about this image found in Friction coefficient curves for different surfaces

Fig. 2 Vehicle and tire schematics More about this image found in Vehicle and tire schematics

Fig. 3 Schematics of sequential EKF algorithm More about this image found in Schematics of sequential EKF algorithm

Fig. 4 C ar S im ™ velocity and force estimation More about this image found in C ar S im ™ velocity and force estimation

Fig. 5 Friction coefficient versus slip ratio More about this image found in Friction coefficient versus slip ratio

Fig. 6 S-EKF scheme validation using test data: ( a ) three experimental longitudinal acceleration profiles and ( b ) estimation results with test data More about this image found in S-EKF scheme validation using test data: ( a ) three experimental longitudi...

Fig. 7 Slope approximations and tire model More about this image found in Slope approximations and tire model

Fig. 8 Slip ratio derivative More about this image found in Slip ratio derivative

Fig. 9 Slip ratio derivative over different road conditions More about this image found in Slip ratio derivative over different road conditions

Fig. 10 C ar S im ™ statistical circles of proposed criterion under different road conditions More about this image found in C ar S im ™ statistical circles of proposed criterion under different roa...

Fig. 11 Surrogate model for new evaluation criterion and tire-road friction coefficient estimation using C ar S im ™ data More about this image found in Surrogate model for new evaluation criterion and tire-road friction coeffic...

Fig. 12 Proposed fusion estimation scheme More about this image found in Proposed fusion estimation scheme

Fig. 13 Correlations between weight coefficients ( α 1 and α 2 ) and RMSE/predicted variances More about this image found in Correlations between weight coefficients ( α 1 and α 2 ) and RMSE/predi...

Fig. 14 Slip ratio derivative of test data on different road conditions More about this image found in Slip ratio derivative of test data on different road conditions

Fig. 15 Statistical circles of new evaluation criterion on different roads using test data More about this image found in Statistical circles of new evaluation criterion on different roads using te...

Fig. 16 Surrogate model of proposed evaluation criterion using test data More about this image found in Surrogate model of proposed evaluation criterion using test data

Fig. 1 Origami exoshell and experimental setup to evaluate the kinematic estimation of the fusion algorithm: ( a ) bench test setup and ( b ) test with the human user wearing the origami exoshell More about this image found in Origami exoshell and experimental setup to evaluate the kinematic estimatio...