Human-leading navigation for gait measurement robot in living space

Ayanori Yorozu, Masaki Takahashi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 4th International Conference on Control, Mechatronics and Automation, ICCMA 2016
出版社Association for Computing Machinery
ページ51-55
ページ数5
ISBN(電子版)9781450352130
DOI
出版ステータスPublished - 2016 12月 7
イベント4th International Conference on Control, Mechatronics and Automation, ICCMA 2016 - Barcelona, Spain
継続期間: 2016 12月 72016 12月 11

出版物シリーズ

名前ACM International Conference Proceeding Series

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 人間とコンピュータの相互作用
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ ネットワークおよび通信

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