Title :
Control of a passive walker using a depth sensor for user state estimation
Author :
Taghvaei, Sajjad ; Hirata, Yasuhisa ; Kosuge, Kazuhiro
Author_Institution :
Dept. of Bioeng. & Robot., Tohoku Univ., Sendai, Japan
Abstract :
The motion of a passive type walker is controlled so that it can be used as a support for standing up, sitting down and also to prevent the user from falling down. A depth vision sensor is used to locate the centroid of the user´s upper body. A 2D probabilistic model of the location of the centroid is constructed based on the gathered data of the user during normal walking. A set of statistical normality tests assure the validity of such model. The state estimation method is experimented with a passive-type intelligent walker referred to as “RT Walker”, equipped with servo brakes.
Keywords :
brakes; gait analysis; handicapped aids; image sensors; mobile robots; motion control; robot vision; servomechanisms; state estimation; statistical testing; 2D probabilistic model; RT Walker; depth vision sensor; passive walker motion control; passive-type intelligent walker; servo brakes; state estimation method; statistical normality tests; user falling down prevention; user state estimation; user upper body centroid location; Gaussian distribution; Legged locomotion; Probabilistic logic; Robot sensing systems; Servomotors; State estimation;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181524
