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Conference Paper: Control of a passive walker using a depth sensor for user state estimation

TitleControl of a passive walker using a depth sensor for user state estimation
Authors
Taghvaei, SajjadHirata, YasuhisaKosuge, Kazuhiro
Issue Date2011
Citation
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, 2011, p. 1639-1645 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBIO.2011.6181524
AbstractThe 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. © 2011 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/303005

 

DC FieldValueLanguage
dc.contributor.authorTaghvaei, Sajjad-
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:43:01Z-
dc.date.available2021-09-07T08:43:01Z-
dc.date.issued2011-
dc.identifier.citation2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, 2011, p. 1639-1645-
dc.identifier.urihttp://hdl.handle.net/10722/303005-
dc.description.abstractThe 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. © 2011 IEEE.-
dc.languageeng-
dc.relation.ispartof2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011-
dc.titleControl of a passive walker using a depth sensor for user state estimation-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBIO.2011.6181524-
dc.identifier.scopuseid_2-s2.0-84860781140-
dc.identifier.spage1639-
dc.identifier.epage1645-

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