The stripe shall extend the full width of the step or upper approach and shall be of material that is at least as slip resistant as the other treads of the stair. A painted stripe shall be acceptable. Grooves shall not be used to satisfy this requirement. SeeSTAIR TREAD DIMENSIONSwhere I ...
Since the riser (step height) and tread (step depth) dimensions of the stairs are known, we add an additional correction to the position estimate. In particular, we designed a single-state Kalman filter that makes corrections to the IMU-derived vertical foot position (𝒙=[𝑝𝑧])(x=[...