Human-leading navigation for gait measurement robot in living space

Ayanori Yorozu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Gait measurements such as several-meters walk tests and trainings are carried out to evaluate walking ability during health promotion and preventive long-term care services. It is necessary to track both legs and measure the walking parameters such as stride length can be used for fall-risk assessment across several meters. We have proposed a gait measurement robot (GMR): moving gait measurement system for a long-distance walk tests and evaluating dual-task performance while keeping a constant distance. The GMR estimates its own pose and the position of both legs of the participant. The GMR leads the participant from the start to the goal of the walk test while maintaining a certain distance from the participant. To lead the participant in the human living space, the GMR has to detect the movable passage and determine the translational motion considering the velocity of the participant and obstacle avoidance. In this study, we propose a sensor-based realtime motion control method for the GMR considering the leading participant toward the movable passage and obstacle avoidance using fuzzy set theory in a long-distance walk test. To verify the effectiveness of the proposed method, we carried out the experiments in a corridor.

Original languageEnglish
Title of host publicationProceedings of the 4th International Conference on Control, Mechatronics and Automation, ICCMA 2016
PublisherAssociation for Computing Machinery
Pages51-55
Number of pages5
VolumePart F126740
ISBN (Electronic)9781450352130
DOIs
Publication statusPublished - 2016 Dec 7
Event4th International Conference on Control, Mechatronics and Automation, ICCMA 2016 - Barcelona, Spain
Duration: 2016 Dec 72016 Dec 11

Other

Other4th International Conference on Control, Mechatronics and Automation, ICCMA 2016
CountrySpain
CityBarcelona
Period16/12/716/12/11

Fingerprint

Navigation
Robots
Collision avoidance
Fuzzy set theory
Motion control
Risk assessment
Health
Sensors
Experiments

Keywords

  • Autonomous mobile robot
  • Gait measurement
  • Navigation

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Computer Networks and Communications
  • Computer Vision and Pattern Recognition
  • Software

Cite this

Yorozu, A., & Takahashi, M. (2016). Human-leading navigation for gait measurement robot in living space. In Proceedings of the 4th International Conference on Control, Mechatronics and Automation, ICCMA 2016 (Vol. Part F126740, pp. 51-55). Association for Computing Machinery. https://doi.org/10.1145/3029610.3029636

Human-leading navigation for gait measurement robot in living space. / Yorozu, Ayanori; Takahashi, Masaki.

Proceedings of the 4th International Conference on Control, Mechatronics and Automation, ICCMA 2016. Vol. Part F126740 Association for Computing Machinery, 2016. p. 51-55.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yorozu, A & Takahashi, M 2016, Human-leading navigation for gait measurement robot in living space. in Proceedings of the 4th International Conference on Control, Mechatronics and Automation, ICCMA 2016. vol. Part F126740, Association for Computing Machinery, pp. 51-55, 4th International Conference on Control, Mechatronics and Automation, ICCMA 2016, Barcelona, Spain, 16/12/7. https://doi.org/10.1145/3029610.3029636
Yorozu A, Takahashi M. Human-leading navigation for gait measurement robot in living space. In Proceedings of the 4th International Conference on Control, Mechatronics and Automation, ICCMA 2016. Vol. Part F126740. Association for Computing Machinery. 2016. p. 51-55 https://doi.org/10.1145/3029610.3029636
Yorozu, Ayanori ; Takahashi, Masaki. / Human-leading navigation for gait measurement robot in living space. Proceedings of the 4th International Conference on Control, Mechatronics and Automation, ICCMA 2016. Vol. Part F126740 Association for Computing Machinery, 2016. pp. 51-55
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