Human Motion Assistance using Walking-aid Robot and Wearable Sensors

被引：0

作者：

Huang, Jian ^{[1
]}

Xu, Wenxia ^{[1
]}

Mohammed, Samer ^{[2
]}

Shu, Zhen ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Automat, Luoyu Rd, Wuhan 430074, Peoples R China

[2] UPEC, LISSI Lab, Paris, France

来源：

NEUROTECHNIX: PROCEEDINGS OF THE INTERNATIONAL CONGRESS ON NEUROTECHNOLOGY, ELECTRONICS AND INFORMATICS | 2013年

关键词：

Walking-Aid Robot; Wearable Sensors; Fall Detection;

D O I：

10.5220/0004664101990204

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

An omni-directional walking-aid robot is developed for the elderly in this study. A motion control strategy of walking-aid robot based on observing human status by wearable sensors is proposed. During normal walking, the robot is controlled by a conventional admittance control scheme. When the tendency of a fall is detected, the robot will immediately react to prevent the user from falling down. The distance between the human Centre of Pressure (COP) and the midpoint of two human feet is assumed to be a significant feature to detecting the fall events. Dubois possibility theory is applied to describe the membership function of normal walking state. A threshold based fall detection approach is obtained from online evaluation of the walking status. Finally, experiments demonstrate the validity of the proposed strategy.

引用

页码：199 / 204

页数：6

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