人間モデルに基づく歩行支援機使用者の動作判別

• 平田 泰久

  東北大学大学院工学研究科

• 小松田 慎二

  東北大学大学院工学研究科

• 小菅 一弘

  東北大学大学院工学研究科

書誌事項

タイトル別名

• Estimation of Human States Using Walker Based on Human Model
• ニンゲン モデル ニ モトズク ホコウ シエンキ シヨウシャ ノ ドウサ ハンベツ

抄録

In this paper, we propose a human modeling method for estimating the user states using intelligent walker. If intelligent walker can recognize the user states, it can select the several functions such as variable motion characteristics function, fall-prevention function, assist functions for standing up and sitting down, and so on, autonomously, so that the users, who do not have professional skills of the intelligent systems, could utilize the walker dependably and practically in real world environment. In this paper, we especially focus on the human modeling method of the user, in which we generate the human linkage model by using the laser range finders attached to the walker and calculate the center of gravity of the human during the usage of the walker. The proposed method is evaluated based on the human motion captured accurately by using the motion capturing system. In addition, the experiments using the walker with laser rang finders show that it can recognize the user states successfully based on the position of the center of gravity derived by the human model.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 45 (5), 276-282, 2009

  公益社団法人 計測自動制御学会

キーワード

• intelligent walker
• estimation of human states
• human model

詳細情報

• CRID: 1390001204504097920
• NII論文ID: 10024758283
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr.45.276
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌ID: 10333093
• Web Site: http://id.ndl.go.jp/bib/10333093
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10333093
• 本文言語コード: en
• データソース種別:
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