# Real-Time Vertical Ground Reaction Force Estimation in a Unified Simulation Framework Using Inertial Measurement Unit Sensors

> Research article (Robotics, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3094521362](https://www.wikidata.org/wiki/openalex:W3094521362)  
**Source**: https://4ort.xyz/entity/real-time-vertical-ground-reaction-force-estimation-in-a-unified-simulation-framework-using-inertial-measurement-unit-se