Vibration observer - Motion fluidity algorithm

The algorithm allows to detect the vibration level in a given signal.

This program allows to analyze a signal to detect vibrations and to assess the level of vibrations in a given window.
The first step is to find all the minima and maxima of the signal. Compared to other methods, the advantage of the suggested method is it's robustness to noise and low computation time. The second step is to define a "vibration index", meaning to give a numerical value to the vibration level.
Please refer to the following paper for more details: Campeau-Lecours, A., Otis, M., Belzile, P. L., & Gosselin, C. (2016). A time-domain vibration observer and controller for physical human-robot interaction. Mechatronics, 36, 45-53.
and to the following videos
Short video : https://www.youtube.com/watch?v=AWGhU34Hrms
Longuer video : https://www.youtube.com/watch?v=hDZEiSliGhE